一种自平衡双轮电动车设计

An Design of Self-Balanced and Two-Wheel Electric Vehicle

针对平衡车具有非线性和时变性的特点,该文介绍了一种自平衡双轮电动车的数学模型建模、仿真与系统设计方案。论文用拉格朗日法建立自平衡双轮电动车的动力学模型,采用模糊PD算法作为控制器,引入Kalman滤波算法对车体倾斜角度进行融合处理,详细介绍了主控制器、姿态传感器、电机驱动、无线通信和速度检测等硬件模块电路的工作原理。仿真和实物验证结果表明自平衡双轮电动车运行性能良好,动、静态环境适应能力强,达到实现车体自平衡精确控制的预期目标。

Aiming at the non-linear and time-varying characteristics of the balanced vehicle, a mathematical model building,simulation and system design scheme of a self-balancing double-wheel electric vehicle is introduced.The Lagrangian method is used to establish the kinetic model of self-balancing double-wheel electric vehicle. Fuzzy PD algorithm is used as a controller.The Kalman filter algorithm is introduced to fuse the inclination angle of the vehicle body.The working principle of the hardware module circuits of main controller, attitude sensor, motor drive, wireless communication and speed detection is introduced in detail.Simulation and physical verification results show that the self-balancing double-wheel electric vehicle has good running performance, dynamic and static environment adaptability, and achieve the expected target of precise control of vehicle body selfbalancing.