双轮载人自平衡控制系统研究综述

Summary of Dual-wheel Self-balancing Transporters

双轮载人自平衡控制系统属于一种两轮同轴布置的交通工具,它具有灵活运动、智能控制、操作简便等优点,而且它是一个典型的自然不稳定、多变量、非线性系统,故具有一定的实用价值和研究意义。针对该类系统,介绍了双轮载人自平衡车的组成结构和工作原理。分析了国内外载人自平衡系统的研究现状和技术发展历程,评述了近10年来国内外具有代表性以及自身研发的载人自平衡车的性能特点、设计思路和方法。结合研发成果讲述了载人自平衡系统的研究意义及其电动机系统、自平衡控制系统、传感器测量系统的设计思路。最后,指出了该类载人工具的发展方向。

The dual-wheel self-balancing transporter is a kind of coaxial two-wheel electric vehicles.It has a number of advantages such as nimble movement,automatic control and simple operation,etc.And it is a natural unstable,multivariable and nonlinear system. So it has some value in practical using and resreach.The configuration and working principle of the dual-wheel self-balancing transporters are introduced,the curent status and technological process of them are researched,and the performance and design process of some representative dual-wheel self-balancing transporters are reviewed and the presented system in last 10 years.Combining with the proposed achievement,the research significance of self-balancing transporters and the design idea of its motor system,self-balancing control system and sensor measuring system are narrated.Finally,the future development trends of this kind of transporters based on the present problems is given.