Through building the simulation physical model and control system of the two-wheel balancing vehicle in MATLAB-Simulink-Simscape, the effect of the control algorithm was verified intuitively and quickly. Neuronal PD balance controller and neuronal PI speed controller were designed by using neuronal PID control algorithm instead of traditional PID control algorithm, the neuronal PID control system of two-wheel balancing vehicle was combined on this basis. The control effect of neuronal PID control algorithm was compared with the traditional PID control algorithm through experiment. It is verified that the neuronal PID control algorithm has higher control accuracy, stronger anti-interference ability, faster response speed, and can adapt to the nonlinear changes of the model in time.