Design and implementation of a balancing controller for two-wheeled vehicles using a cost-effective MCU

In this paper, we present our first trial of developing a tiny-sized and low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board and the balancing controller. With the considerations of cost-efficiency, we integrate the sensory systems and the balan...

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Bibliographic Details
Published in2009 International Conference on Machine Learning and Cybernetics Vol. 6; pp. 3329 - 3334
Main Authors Jong-Hann Jean, Chih-Kai Wang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2009
Subjects
Air pollution
Balancing controller
Control systems
Cybernetics
Education
Electric vehicles
Embedded system
Fuzzy control
Machine learning
Motorcycles
Prototypes
Two-wheel vehicle
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Summary:In this paper, we present our first trial of developing a tiny-sized and low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board and the balancing controller. With the considerations of cost-efficiency, we integrate the sensory systems and the balancing control systems by utilizing an embedded system based on the SUNPLUSTM SPCE061A EMU board and a CPLD, Altera EPM7128SLC84. There are three goals for our design. First, since the system is unstable in nature, it can be used as a teaching aid in the control-related courses to demonstrate the de-sign of various control schemes. Second, motion with the self-balancing capability is novel and interesting and has potential to be a toy. In addition, this trial can provide a prototype to verify the techniques and allow the possibility for further development of a commercial two-wheel vehicle in the future.
ISBN:9781424437023
1424437024
ISSN:2160-133X
DOI:10.1109/ICMLC.2009.5212761