关键词: 
• integralcompensation,fuzzyPIDcontrol,two-wheeledtrolley

摘要: There are some problems about the starting transient process of the two‐wheeled self‐balanced trolley .For example ,the adjustment process of trolley stand posture is slow ,and it exists concussion and jitter .In this paper ,fuzzy PID control algorithm and integral compensation scheme have been used to opti‐mize the control of the output voltage of the left and right w heels ,so that the trolley can repair to upright position quickly .Simulation and experimental results show that by combining fuzzy PID and integral com‐pensation ,the posture change of trolley starting process is smoother ,the measurement of dynamic tilt an‐gle is more accurate ,and the concussion is weakened obviously .When the tilt angle changes from -4°to 0° ,the use of fuzzy PID algorithm can improve the systematic test performance ,shorten systematic modi‐fied time ,diminish concussion range ,and the concussion peak can descend from 2 .2° with conventional PID algorithm to 0 .5° with fuzzy PID algorithm ,the overshoot reduces from 55% to 12 .5% .The study on the two‐wheeled self‐balancing vehicle can improve ride comfort ,reduce power consumption caused by long‐time posture modification .