Design of the steering structure for a single wheeled vehicle

Nowadays, there is a need to reduce emissions in the world and use electricity to drive vehicles. There is an increasing interest in small passenger vehicles suitable for crowded cities. In this paper we try to design a universal control structure for a single-wheeled vehicle with a tilt sensor. This structure can also be applied to a vehicle with parallel wheel arrangement. The paper describes a current and position loop suitable for a single wheeled vehicle. In the paper is designed a simple complementary filter for data processing from the accelerometer and gyroscope and a block diagram of the program for use in any microprocessor.