Research on Self-Balancing Control for Upright Vehicle with Two Wheels Based on Sliding Mode Control

摘要

To realize self-balancing control for upright vehicle with two wheels, algorithms should be programmed and parameters are debugged one by one, which is the primary method today. Thus, self-balancing control occupies a large proportion in the whole design process. In order to enhance the efficiency of whole process, research has been made on this part. First, mechanical modeling for this system was built in transient equilibrium. Then PID control and sliding mode control were used respectively to realize self balance with controlling the swing angle of the upright vehicle. It was shown by theoretical analysis and simulating results that PD control could get good effect, but after system getting steady state, it was easy to produce continuous oscillation. This would make the vehicle shaking in practical debugging. In order to get better effect, sliding mode control was used. And it was demonstrated from the simulation that sliding mode control could greatly increase response speed and restrain the oscillation after entering the steady state. Thus, from the above work, if PD control was adopted in practical debugging, the range of parameters were offered by simulation results; if it was required more stable after entering into steady state, then sliding mode method was recommended. So the efficiency of the debugging process could be greatly improved by the work which provides the direction of theoretical method and the basis of parameter adjustment.