RESEARCH ON THE MOTION STABILITY OF SELF-BALANCING TWO-WHEELERS

Abstract

A self-balancing two-wheeled vehicle is a dynamic system that is susceptible to imbalance from tilting and shaking because of variables like center of gravity coordinates and electric motor torque. The system is unable to concurrently satisfy needs like swing angle control and stability during movement due to its structural and weight features. However, depending on the goal function, the control system's design can maximize the vehicle's balance and stability. The paper presents theoretical research, examines controllability and system observation using LQR control theory, simulates the vehicle's stability, and assesses stability when the experimental vehicle's electric motor is stimulated by the supply unit's pulse.