A Two-Wheeled, Self-Balancing Electric Vehicle Used As an Environmentally Friendly Individual Means of Transport

Scientific Conference on Automotive Vehicles and Combustion Engines 2016

Bdziuch, D.^1 ; Grzegozek, W.^2

Institute of Transport, Combustion Engines and Ecology, Lublin University of Technology, Poland^1

Institute of Motor Vehicles and Combustion Engines, Cracow University of Technology, Poland^2

关键词: Electric motor drives;    Equilibrium positions;    Inverted pendulum;    MATLAB environment;    Self-balancing;    Self-balancing vehicles;    Solid works;    Steering systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/148/1/012003/pdf
DOI  :  10.1088/1757-899X/148/1/012003

来源: IOP

【 摘 要 】

This paper shows a concept of a model of a two-wheeled self-balancing vehicle with an electric motor drive as an environmentally-friendly personal transporter. The principle of work, modelling of construction and performing a simulation are presented and discussed. The visualization of the designed vehicle was made thanks to using Solid Works a computer-aided design program. The vehicle was modelled as an inverted pendulum. The stability of the mechanism in the equilibrium position was studied. An exemplary steering system was also subjected to the analysis that compared two controllers: PID and LQR which enabled to monitor the balance of the vehicle when the required conditions were fulfilled. Modelling of work of the controllers and the evaluation of the obtained results in required conditions were performed in the MATLAB environment.