| 独轮自平衡电动车的建模与运动平衡控制 |
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| 引用本文： | 阮晓钢,马圣策.独轮自平衡电动车的建模与运动平衡控制[J].中国科技论文在线,2014(7):852-856. |
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| 作者姓名： | 阮晓钢 马圣策 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京100124 |
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| 基金项目： | 国家自然科学基金资助项目（61075110,61375086）;北京市自然科学基金资助项目/北京市教育委员会科技计划重点项目（KZ201210005001） |
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| 摘 要： | 为了设计新型、环保、便捷的智能代步工具,搭建了一款独轮自平衡电动车物理系统。利用拉格朗日方法建立了人车一体的动力学模型,并对系统进行了特性分析。设计了独轮车系统的比例微分(proportional-differential,PD)平衡控制器,并对独轮车系统分别进行了自平衡、冲击干扰和阶跃干扰实验。实验结果表明,独轮自平衡电动车系统具有较好的鲁棒性和操控性,证明设计方案的合理性和有效性。
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| 关 键 词： | 自平衡独轮电动车 平衡控制 动力学建模 比例微分控制 |
The modeling and movement balance control of self-balancing electric unicycle |
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| Ruan Xiaogang,Ma Shengce.The modeling and movement balance control of self-balancing electric unicycle[J].Sciencepaper Online,2014(7):852-856. |
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| Authors: | Ruan Xiaogang Ma Shengce |
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| Institution: | (School of Electronic Information and Control Engineering ,Beijing University of Technology ,Beijing 100124, China) |
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| Abstract: | A self-balancing electric unicycle platform is designed and established,which is a new-style,environment-friendly and convenient transport.A driver-vehicle integrated dynamic model is built to analyze its features,based on Lagrange method.A proportional-differential balancing control loop of unicycle system is designed,then some physical experiments including self-bal-ancing,impulse interference and step perturbation are also been done.In the experiments,proposed self-balance electric unicycle system presents good performance on robustness and controllability,and the validity of our design is also demonstrated. |
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| Keywords: | self-balancing electric unicycle balancing motion control dynamic modeling roportional-differential control |
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