Analysis of the mathematical model of the automatic control of the double wheel self balancing trolley

The double wheel self balancing trolley is a dynamic and stable system, which has the characteristics of strong coupling, nonlinearity, underdrive and multivariable. In this paper, the attitude angle detection and self balancing control of the trolley are studied. The mathematical models of the wheels, the body and the motor of the trolley are established respectively based on the Newton mechanics principle, and the overall system model of the trolley is established according to the relationship between the three. The trolley model is linearized at the balance position to obtain a simplified model. The observability and controllability of the simplified model are analyzed, and the balance controller of the trolley system is designed using PID control theory.