两轮自平衡车无速度传感器平衡控制仿真研究

The Simulation Research of Speed-sensorless Balance Control to the Two Wheels Self-balance Vehicle

为解决两轮自平衡车的无速度传感器平衡控制问题,建立了一种两轮自平衡车的直接转矩模型,并以此模型为基础借助模型等效原则设计了一种无速度传感器的平衡控制方式。该方式无需速度传感器,同时还能保证良好的平衡动态性能。通过Matlab仿真分析,与几种传统的控制方式进行对比,证明了该方式在动态性能上优于传统控制方式。同时分析了该方式的不足之处及其克服措施。

For solving speed-sensorless balance control problem of two wheels self-balance vehicle, we established a kind of direct torque mode of the two wheels self-balance vehicle and designed a kind of speed-sensorless balance control by the principle of equivalent mode based on the mode. We proved the odds of this control compared with the traditional control through Matlab simulation. At the same time, we analyzed its deficiency and how to overcome it.