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

Research on Simulink Simulation Application of Motion State of Two-Wheel Balance Vehicle PID Three-Loop Algorithm | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research on Simulink Simulation Application of Motion State of Two-Wheel Balance Vehicle PID Three-Loop Algorithm Hengyi huang, sanli fu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7181351/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract 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. Motion model PID controller Simulink simulation Three closed-loop system Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7181351","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":510688232,"identity":"c48904ef-04a5-4e9a-aac2-858da9ce9b6f","order_by":0,"name":"Hengyi huang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAy0lEQVRIiWNgGAWjYBACfobDhx9IVNjIMbY3EKlFsvFYmoHFmTRj5p4DRGoxOHxGQaKy5XBi+4wEYrUcO8NgcLOBmbF35uONNxhqbKIJO+zM2QMPZ+5gY5acnVZswXAsLbeBkBa+G+cSjCXP8LAZzs4xk2BsOExYC8P9NwbSf9skeOxvniFSi8CBMwYSkm0GEowzeIjUItkADGSJMwkGjD1AvyQQ4xdoVP6vb2w/vPHGhxobIvyCBAwkEkhRDtFCqo5RMApGwSgYGQAAMPpHQH/03TMAAAAASUVORK5CYII=","orcid":"","institution":"university of sanya","correspondingAuthor":true,"prefix":"","firstName":"Hengyi","middleName":"","lastName":"huang","suffix":""},{"id":510688233,"identity":"a32640f3-5b86-446b-927f-e1530a67ad39","order_by":1,"name":"sanli fu","email":"","orcid":"","institution":"university of sanya","correspondingAuthor":false,"prefix":"","firstName":"sanli","middleName":"","lastName":"fu","suffix":""}],"badges":[],"createdAt":"2025-07-22 00:53:11","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7181351/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7181351/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":99318023,"identity":"1ebc6261-6449-4757-ab17-54e87679105d","added_by":"auto","created_at":"2025-12-31 16:31:11","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":587478,"visible":true,"origin":"","legend":"","description":"","filename":"ResearchonSimulinkSimulationApplicationofMotionStateofTwoWheelBalanceVehiclePIDThreeLoopAlgorithm.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7181351/v1_covered_0713a9e1-a4ef-4562-bea7-71f9979552a4.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":" Research on Simulink Simulation Application of Motion State of Two-Wheel Balance Vehicle PID Three-Loop Algorithm","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Motion model, PID controller, Simulink simulation, Three closed-loop system","lastPublishedDoi":"10.21203/rs.3.rs-7181351/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7181351/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eAs 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 \u0026plusmn;\u0026thinsp;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.\u003c/p\u003e","manuscriptTitle":" Research on Simulink Simulation Application of Motion State of Two-Wheel Balance Vehicle PID Three-Loop Algorithm","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-09-10 22:35:30","doi":"10.21203/rs.3.rs-7181351/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"3ddcdf04-83b5-4a6d-8790-484322608ed9","owner":[],"postedDate":"September 10th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2025-12-30T08:09:34+00:00","versionOfRecord":[],"versionCreatedAt":"2025-09-10 22:35:30","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-7181351","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-7181351","identity":"rs-7181351","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}