Two-wheeled self-balancing car, modeling, nonlinear system simulation and linearization
DOI:
https://doi.org/10.5902/2179460X87047Keywords:
Signals and systems, Control theory, Nonlinear system, Linearization, SimulationAbstract
Applying the signals and systems theory and control theory studied in electrical engineering and mechanical engineering courses requires sophisticated, expensive and delicate handling devices. The mathematical tools that are taught in the disciplines of signals and systems and control theory in the undergraduate course are often abstract, especially in terms of practical application in an industrial setting, which makes it necessary to use didactic control plants to complement teaching and hands-on experimentation. This paper presents a low-cost two-wheeled self-balancing car system as a teaching tool for engineering. The two-wheeled self-balancing car is a dynamic benchmark system designed to control the car in a vertical position. The car is able to remain balanced through calculations that analyze the angle of the gyroscope and the position of the wheels. DC motor drivers are used to compensate for tilt and balance the car. As the purpose of the article is to serve as support material for undergraduate students who are taking their first steps in the study of signals and systems and control theory, detailed modeling by the laws of physics are presented, together with the simulation of the nonlinear model of the system and a complete linearization of the model.
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