1 / 2018-03-22 15:20:58

Design of Three-ring Nesting Cascade PID Controller of Full-auto Two-wheel Balance Vehicle

Full-auto; Two-wheel Self-balance Vehicle; Mass Production; Cascade PID

Current control algorithms concerning two-wheel self-balance vehicle studies are primarily suitable for control of balance vehicles under manual real-time manipulation instead of those full-auto; they are suitable for control of single balance vehicle but are not replicable, thus they are applicable to control of balance vehicles in mass production in the plant. Concerning such two key issues, a cascade PID controller applicable to full-auto two-wheel balance vehicles in industrial mass production is designed in this paper. In the designed PID controller, a three-ring nesting form comprises PD control of angle rate of inner ring, PI control of angle of middle ring, and PI control of velocity of outer ring. Such a design turns the expected input of a traditional control system from angle to velocity to effectively offset angular measurement deviation resulting from mounting error.