两轮自平衡智能车要求车模两轮驱动实现其直立行走。直立车的硬件设计和软件设计与四轮车相比更加复杂,在“飞思卡尔”杯全国大学生智能汽车竞赛中,直立车故障多,近一半的参赛队伍完不成比赛。直立自平衡智能车主要简化为倒立摆模型,把倒立摆理论引入并通过PID控制,能得到良好的控制效果。 Two-wheel self-balancing smart cars require two-wheel drive vehicles to achieve its upright walk. Upright car hardware design and software design more complicated than the four-wheeled vehicles, in the “Freescale” Cup National Undergraduate Smart Car Competition, upright car failure, nearly half of the participating teams can not finish the race. Upright self-balancing smart car is mainly simplified to the inverted pendulum model, the inverted pendulum theory is introduced and passed PID control, can get good control effect.