Research on Balance Control Algorithm for Two-Wheeled Vehicles Under Continuous Turning Conditions

With the increasing demand for two-wheeled vehicles to work in harsh environments and complicated terrains, achieving motion balance while continuously turning on intricate paths has become essential. Challenges such as center-of-gravity drift and uncertain turning angles must be addressed, as stable and reliable motion balance of the unmanned vehicle is crucial for safe driving on complex sustained curved roads. This paper proposes a discrete PID-based control strategy for two-wheeled self-balancing vehicles to address balance challenges during continuous turning. By decomposing the system into balance, speed, and direction three control subsystems, sensor-based differential wheel control is integrated to mitigate center-of-gravity drift and rapid angle changes. Simulations and experiments demonstrate the algorithm's effectiveness in achieving stable turning with minimal tilt (<0.125 rad) and speed jitter reduction.