摘要
自平衡两轮电动车是一种全新模式的交通工具,其动力学系统具有强耦合、参数不确定性、非线性、多变量等特性,其运动环境复杂,属于非完整性系统。本文具体完成以下几个方面:利用陀螺仪和加速度传感器配合微处理器组建硬件系统;采用PID控制方法完成各种情况下的平衡设计;借助MATLAB建立模型;仿真验证控制方法的正确性。
Self-balancing two-wheeled electric vehicle is a new mode of transport, its strong-coupling Dynamics system, parameter uncertainty, nonlinear and variable characteristics such as its sports complex, belonging to the non-integrity system. This specific complete the following aspects： using gyroscopes and microprocessors form the hardware acceleration sensor system PID control method is used to complete all cases balanced design using MATLAB model simulation verifies the correctness of control methods.
出处
《电子技术（上海）》
2016年第2期51-53,共3页
Electronic Technology
