Researches and Development of an Efficient Electric PersonalMover for City Commuters

In order to reduce the carbon emission, saving fuel energy and for the convenience of personal transportation in urban area, a two-wheel-driven self-balancing vehicle was developed, which utilize the well-known inverted pendulum control technique, can carry one person and travels at a maximum speed of 20km/h. The vehicle which is called “Tiny” ， consists up of two brushless DC motors, the motors are placed coaxially. A gravity sensor and a gyro are mounted on the vehicle, signals from the two sensors are combined with Kalman Filter to indicate the tilt angle of the vehicle. By controlling the tilt angle to be 0 degree (which means the vehicle body is perpendicular to ground), the vehicle can perform travelling forward and backward. In this paper, the implementation of the Kalman filter is discussed by using Matlab simulations, and the mathematical model of the vehicle is also presented, then the controlling diagram is presented. In the end of this paper, some experimental parameter is presented.