TITLE:
Research on Double Cascade Control Algorithm for Self-Balancing Two-Wheeled Vehicle
AUTHORS:
Qingqing Zhang
KEYWORDS:
Cascade Control, Kalman Filter, Fuzzy Control, PID Algorithm
JOURNAL NAME:
Journal of Applied Mathematics and Physics,
Vol.4 No.4,
April
13,
2016
ABSTRACT: To solve the problem of self-balancing two-wheeled
vehicle, this article presents double cascade PID control algorithm. This method
reduces the coupling of balance control, speed control and direction control, because
of the special system structure. This article successfully solved the sensor fusion
of gyroscope and accelerometer by using Kalman filtering algorithm, and adding in
fuzzy PID algorithm to improve the flexibility of the steering system, thus greatly
improving the accuracy and response rate of the system.