基于力矩陀螺的两轮单车辙车辆自平衡控制设计

Design of Self-Balancing Control for Two-wheel Single Rut Vehicle Based on Moment Gyro

为了探究两轮单车辙车辆的自平衡问题,以对置式控制力矩陀螺(SGCMG)无人自平衡车为研究对象,针对车体不稳定系统和未知扰动,采用了由扩张状态观测器(Extended State Observer)和在线抑制干扰的状态反馈控制律组成的自抗扰控制器,利用扭矩测量台架测量了控制力矩陀螺的扭矩输出,并仿真了平衡车在车体具有初始角度和施加横向扰动的情况下的自平衡能力.仿真结果表明,所采用的控制方法能够在牺牲较小的陀螺框架角度下快速平衡车体,并且在受到300 N的外部扰动时车体横滚角度只有0.2°左右的波动,陀螺框架角度变化较小,研究结果对提升两轮单车辙车辆自平衡和抗扰动能力有显著意义.

To explore the self-balancing problem of two-wheeled single rut vehicle,the opposed control moment gyro unmanned self-balancing vehicle was used as research object.Aiming at the unstable system and unknown disturbance of the vehicle body,the extended state observer(Extended State Observer)and an active disturbance rejection controller composed of a state feedback control law that suppresses disturbances online was applied.The torque output capability of the control moment gyro was measured by a torque measurement bench,and the self-balancing ability of the vehicle with initial angle and under lateral disturbance was simulated.The simulation results showed that the adopted control method can quickly balance the vehicle body at the expense of a small gyro frame angle,and the vehicle body roll angle only fluctuated about 0.2°when subjected to 300N of external disturbances,and the gyro frame angle changed less.The research results are significant for improving the self-balancing and anti-disturbance ability of two-wheel single rutting vehicles.