Lateral Stability Control of Electric Sightseeing Vehicle based on Fuzzy Control Kalman Filter
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Abstract
Electric sightseeing vehicles suffer from weak lateral stability due to their unique body structure and gravitational forces. In order to solve the problems, this paper proposes a new method based on Kalman filter fuzzy PD controller to improve the stability of electric sightseeing vehicle roll. Firstly, a mathematical model of the motion state and lateral force of the electric sightseeing vehicle was established, revealing the relationship between its lateral stability and the body force, speed and inclination angle. Then, a Kalman filter fuzzy PD control algorithm was proposed, which controls the state in the fuzzy domain using a PD controller and eliminates interference using a Kalman filter. The paper provides the circuit diagram and working principle of the key components of the stability system of the controller. Finally, an electric sightseeing vehicle lateral test platform was constructed and experiments were conducted. The practical results showed that the electric sightseeing vehicle based on the method proposed in this paper can quickly maintain self-balance within a tilt angle of 20Rad, with a maximum adjustment time of less than 1.0S and good stability performance.
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