Two-wheeled intelligent balance vehicle and control method thereof

The invention relates to a two-wheeled intelligent balance vehicle and a control method thereof. A main program and a timing interruption program are included. After the main program is started, the timing interruption program is executed. When the timing interruption program is entered, the main program is suspended. After the timing interruption program is ended, a position where the main program is suspended is returned to. The timing interruption program comprises the following steps of acquiring stator voltages and winding currents of two motors connected to two wheels of the balance vehicle respectively; calculating acquired motor torques respectively; through the motor torques, a flux linkage regulator and a vector table, generating 12 paths of PWM needed by the two motors; carrying out direct torque control and outputting to the motors so as to complete control of the balance vehicle. In the invention, the direct torque control is adopted; an input quantity only needs the stator voltages and the winding currents; a position sensor is not needed; cost is saved and performance is stabilized. An output quantity is an accurate torque so that a response characteristic is greatly increased. Accurate control of self balancing of a vehicle body is completed, and stability and safety are increased.