Abstract:

Abstract: In the developing world, small and economical personal transportation vehicles are becoming more popular with the increase of human population and the growth of cities. Motorcycles have been very useful in the last half century, and alternatively, the number of two-wheeled balancing vehicles (ITDA) has started to increase rapidly in the new century. In addition to human transportation, the range of use of ITDAs from industrial areas to military areas with different versions and add-ons is increasing. In this study, a two-wheeled self-balancing mobile vehicle was controlled. The mathematical models of the vehicle were created as dynamic and state space equations with the energy-based Lagrangian method. The two-wheeled balance vehicle was designed in 3D in the SOLIDWORKS drawing environment and transferred to the MATLAB/SIMULINK environment. The vehicle was connected to the controller prepared in MATLAB/SIMULINK and controlled in 3D environment. In addition, a 2D simulation of the inverted pendulum system has been carried out to monitor the tilt and position. In the control of the vehicle, besides its position, the balance angle, left/right turning angle and speed were controlled. The amount of energy that needs to be transferred to the motors during these inspections is given by including the friction energies. Full state feedback linearization, Pole Placement and Linear Quadratic Regulator control methods are used for the control of the two-wheeled balance vehicle. Comparisons of the control methods used were made by giving the graphs of the position, balance angle, speed and motor torque changes. In the comparisons made, it was observed that the pole assignment method gave a faster response than the Feedback linearization and Linear Quadratic Regulator under the same conditions.

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