基于模型设计的自平衡车样机研发

Design of self-balancing electric vehicle prototype based on MBD

针对提高两轮自平衡车开发效率以及降低开发成本,采用基于模型设计的方法开发两轮自平衡车样机。首先建立了两轮自平衡车的本体模型和控制器模型,并通过仿真分析验证了控制算法的有效性,接着搭建了两轮自平衡车代码模型和硬件平台,进行自动代码生成与实验验证。实车实验结果表明两轮自平衡车能够实现自平衡功能,验证了基于模型设计方法的可行性。

In order to improve development efficiency and reduce development costs for self-balancing vehicle, this paper adoptsthe method of model based design to designthe two-wheeled self balancing vehicle prototype. Firstly, this paper established the model of self-balancing vehicleand the controller model and verify the effectiveness of the control algorithm by simulation analysis, then, this paper builtthe code model and hardware platform for the self-balancing vehicle. By automatic code generation and experimental verification, real vehicle test results show that two-wheeled self balancing vehicle can achieve self-balance function, and verify the feasibility of model-based design method.