自平衡二轮电动车直立控制研究

Research onupright control of the two-wheeled self-balancing electrical vehicle

自平衡二轮电动车是一种平衡移动的新型代步工具。平衡控制是研究自平衡二轮电动车的主要问题,本文建立了自平衡二轮电动车的动力学模型,设计了控制效果良好、精度高的控制器,解决了自平衡二轮电动车平衡控制难的问题;设计出一种基于PID算法的自平衡二轮电动车直立控制器,并在MATLAB/Simulink环境中进行动力学仿真;通过仿真分析所设计的控制器中各参数对系统的影响,对比系统仿真的响应图,确定所设计控制器的参数;结果表明所设计的控制器控制效果良好,控制精度较高,对于自平衡二轮电动车的控制策略研究有一定借鉴意义。

Self-balancing two electric vehicles is a new type of transport in a balanced movement.How to realize the balance control is one of the major problems of research.In this paper,a dynamic model of a self-balancing two-wheel electric vehicle is established,and a controller with good control effect and high precision is designed to solve the problem of difficult balance control of the self-balancing two-wheel electric vehicle.A self-balancing two-wheel electric vehicle upright controller is designed based on PID algorithm.The results show that the designed controller has good control effect and high control accuracy,which has certain reference significance for the study of control strategy of self-balancing two-wheel electric vehicles.