Self-balancing based on Active Disturbance Rejection Controller for the Two-In-Wheeled Electric Vehicle, Experimental results

Abstract

This article deals with a robust self-balancing control scheme for the Two-In-Wheeled Self-Balancing Electric-Vehicle (TIW-SB-EV). Due to time-varying and unknown torque load, uncertainties on system parameters, and the lack of knowledge of the friction components, the approach proposes the design and implementation of an active disturbance rejection control based on the extended state observer (ESO). The ESO is developed through the differentially Flatness property of the system. The system flat output measurement is obtained employing an absolute optical inclinometer, which represents the sole measurement of the plant. The electric traction for the TIW-SB-EV is composed of two In-wheel brushless DC motors (SG/F10-48 V, 800 W) powered by a controlled three-phase inverter. The TIW-SB-EV primary power source is supplied by two Lithium-Ion batteries (48 V, 10 AH). The proposed ADRC algorithm is coded on the TMS320F28335 Experimenter Kit, a device of the TMS320C28x/Delfino family. Real-time experimental results validate the mechanical design, electric drive, and control design and highlight the closed-loop robustness when the TIW-SB-EV is subjected to the endogenous and exogenous disturbances present in a real environment.