Attitude Control Equation of the Two-wheeled Self-balancing Electric Vehicle

Abstract

In order to get control of motion characteristics of the two-wheeled self-balancing vehicle, based on the dynamic modeling and the correction of ADAMS simulation, a mathematical model of body posture of body angle and wheel driving torque which contains a correction factor was build. The simulation results of the model show that the horizontal velocity of the center of gravity of the swing rob and the wheel center were almost coincides entirely with each other both on model calculation and ADAMS simulation, so the body of the vehicle could keep relatively static on horizontal direction under the control of this model. The position changing value of swinging rob was always less than 1mm, Thus it proved that the modified equation was proper and could be used to control the motion of the two-wheeled self-balancing electronic vehicle.