Open AccessManned self‐balanced vehicle control system based on pressure sensors for steering
Author(s) -
Xia Kun,
Li Zheng,
Tang Yusong,
Ye Yanhong,
Zhu Feng
Publication year - 2018
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2017.4835
Subject(s) - control theory (sociology) , superposition principle , pid controller , flexibility (engineering) , control system , filter (signal processing) , steering wheel , control (management) , computer science , control engineering , engineering , automotive engineering , mathematics , temperature control , mathematical analysis , statistics , electrical engineering , artificial intelligence , computer vision
A new steering mechanical structure and an improved control method of the manned self‐balanced vehicle are presented in this Letter. An effective method is introduced to calculate the real‐time inclination of the vehicle. Then, the integrating inclination of the vehicle could be obtained by the complementary filter and proportional derivative (PD) algorithm. In addition, the control system could be regarded as a linear superposition of three parts, including the balance control, the speed control and the steering control. Moreover, the proportional, integral and derivative (PID) parameters of the whole control system are different under different operational conditions. Furthermore, the pressure sensors placed on the left and right pedals could detect the change of the weight, which simplifies the mechanical structure and improves the flexibility of the manned steering. The experiments in the prototype are designed to prove the steering structure and the improved method.