Research on Simulink Simulation Application of Motion State of Two-Wheel Balance Vehicle PID Three-Loop Algorithm

As a typical underactuated system, the two-wheeled balancing vehicle poses a key challenge in the control field regarding the coordinated realization of balance maintenance, speed stability, and position control. This paper addresses this demand by investigating a three-loop control algorithm based on PID angle loop, speed loop, and position loop, and conducts application verification through the Simulink simulation platform. Firstly, a dynamic model including the vehicle body tilt angle, wheel speed, and displacement is established in combination with the mechanical structure and motion characteristics of the balancing vehicle, clarifying the hierarchical relationship of the three loops: the angle loop serves as the foundation, responsible for suppressing the vehicle body tilt to ensure system stability; the speed loop regulates the driving speed under the balanced state and resists external disturbances; the position loop achieves precise position tracking through speed regulation. Based on this, PID controllers for each loop are designed: the angle loop adopts PD regulation for rapid response to tilt changes, the speed loop combines PI control to eliminate steady-state errors, and the position loop achieves zero-error positioning through integral regulation. A simulation model is built using Simulink to simulate sensor feedback and external disturbances, and the dynamic performance of the algorithm is tested. Simulation results show that the optimized three-loop system can achieve balance within 0.7 seconds, with a speed overshoot of less than 10% and a position control error within ± 5 cm, verifying the effectiveness of the algorithm. The research indicates that this simulation scheme can provide a reliable reference for parameter optimization and performance improvement of the actual control system of the balancing vehicle.