摘要
自平衡独轮电动车作为一种新型、环保、便捷的智能代步工具,已受到各个领域的的广泛关注。介绍了自平衡独轮电动车控制系统的组成,重点介绍了自平衡车控制系统中已有应用的线性控制、智能控制和模型预测控制等算法的工作原理以及在自平衡控制系统中的应用进展。针对存在的问题与不足,以及对其在实际应用中的优劣进行了探讨,并分析了独轮电动车的发展趋势。
As a new, envimnmentaUy friendly and convenient smart travel tool, the self-balancing electric unicycle has attracted much attention from different fields. This paper introduces the composition of its control system , focusing on the working principle of the linear control, intelligent control and model predictive control already applied to the self-balancing control system, as well as their application progress. Existing problems and shortcomings, as well as its advantages and disadvantages in practical applications are discussed, and the development tendency of the electric unicycle is also analyzed.
出处
《电气自动化》
2015年第6期1-4,23,共5页
Electrical Automation
基金
国家自然科学基金项目(61304081)
浙江省自然科学基金资助项目(LQ13F030007)
宁波市创新团队(2012B82002
2013B82005)
关键词
自平衡独轮电动车
控制系统
线性控制
智能控制
预测控制
self-balancing electric unicycle
control systemlinear control
intelligent control
predictive control
