Design of self-balancing vehicle based on cascade PID control system

In order to achieve upright motion control of two-wheeled self-balancing vehicle (TWSBV), a double-cascade proportional integral derivative (PID) control system is proposed in this paper. In the proposed control system, balance and speed control is achieved by upright-speed cascade PID, balance control is achieved by angle-angular velocity cascade PID, and steering control is realized by double-cascade PID parallel steering closed- loop control. The system adopts MM32F3277G9P as microcontroller unit (MCU), ICM20602 gyroscope and accelerometer module as attitude detection sensor. The spatial location is detected by electromagnetic sensors. Real-time speed feedback through encoder measurement. The interference of detection data is eliminated by complementary filtering and inertial filtering algorithms. Experiments show that TWSBV driving stably with effective balance control.