Control System of Two-Wheel Self-Balancing Vehicle

This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models. Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced, including those concerning balance control, speed control and direction control. An improved cascade coupling control scheme is proposed for two-wheel vehicles, based on a proportional-integral-derivative (PID) control algorithm. Moreover, a thorough comparison between a classic control system and the improved system is provided, and all aspects thereof are analyzed. It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable, enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical performance.