Design of Three-ring Nesting Cascade PID Controller of Full-auto Two-wheel Balance Vehicle

Current control algorithms concerning two-wheel self-balance vehicles are primarily suitable for balance vehicles under manual real-time control instead of full-auto vehicles, for single balance vehicle control but not for mass production. Concerning such two key issues, a cascade proportional-integral-derivative (PID) controller applicable to full-auto two-wheel balance vehicles in industrial mass production is designed in this paper. This PID controller contains three basal PID controllers which are PD controller for vehicle's angle rate, PI controller for vehicle's angle and PI controller for vehicle's velocity. The inputs of controller are expected angle and velocity in many other papers, leading to poor performance during industrial mass production. Because the expected angle is different on the different vehicle due to the different offset of gyroscope. However, the input, in this paper, is only velocity and it works in the factory.