Design and implementation of self-balancing car based on Simulink

In this paper, the self-balancing control of a two-wheeled bicycle will be realized by model-based design (MBD). The self-balancing principle is based on the flywheel inverted pendulum, and the tipping is prevented according to the torque generated by the acceleration and deceleration of the flywheel. The control principle is to install a momentum flywheel on the car. When the car topples in a certain direction, the flywheel accelerates in the same direction to generate a reverse torque to bring the car back to the upright position. The PID method is used to control the posture and driving speed of the balanced bicycle. The experiment proves that the modified method has a good effect, and the bicycle can drive on the flat and inclined road without tipping, and travel at the expected speed.