Two-wheel self-balancing control is divided into balance

speed

steering

separately carries on processing

balance control is taken as the main control object

the speed and direction control are taken as interference

speed and steering control as smooth as possible

so as not to damage the balance. The dynamic equation is established through theoretical analysis

and the control block diagram and transfer function of each part are obtained. In the design

the rotation angle

angular velocity and acceleration of the vehicle model are measured with MPU6050

and rotating speed of the motor is measured by the encoder

and the feedback system is built up. In software design

Kalman filter is used to eliminate interference and uses PD algorithm to control balance

speed and steering.