Design of the Control System of the Two-wheeled balancing Vehicle Based on FPGA

Abstract:
In order to solve the complexity of the control system of the two-wheel balancing vehicle. A Two-wheeled balancing vehicle based on the DE10-Nano development board as the main controller is designed to cope with the instability of the two-wheeled vehicle control system operation. The MPU6050 sensor is used to detect the attitude of the Two-wheeled balancing vehicle. Due to the noise interference and random drift errors in the measurement of gyroscopes and accelerometers, the Kalman filter algorithm is utilized to fuse the collected data with the attitude to obtain the optimal attitude angle. The double closed-loop feedback network is formed by the optimal attitude angle and the motor speed fed back by the encoder, and the balance control of the Two-wheeled balancing vehicle is realized through the double closed-loop PID control algorithm. Finally, OPENMV4 is used to identify the front information of the Two-wheeled balancing vehicle, so as to control the motion state of the Two-wheeled balancing vehicle through the identified information. In this regard, the feasibility and effectiveness of the system are verified through experiments.