| 自平衡两轮电动车控制系统设计与仿真 |
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| 引用本文： | 侯继红,马聪承.自平衡两轮电动车控制系统设计与仿真[J].湖北大学学报(自然科学版),2014(4):307-312. |
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| 作者姓名： | 侯继红 马聪承 |
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| 作者单位： | [1]广州科技贸易职业学院,广东广州511442 [2]华南理工大学机械与汽车工程学院,广东广州510640 |
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| 基金项目： | 广东省汽车重点实验室开放基金（JQZ2022001）资助 |
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| 摘 要： | 利用牛顿第二定律建立自平衡两轮电动车的系统动力学模型,对模型进行可控性及可观性校验.采用期望极点配置算法及线性二次型最优控制(LQR)算法设计两类自平衡控制器,并利用MATLAB进行仿真分析.结果表明,两种控制方法对自平衡两轮电动车的稳定性控制均有效,其中期望极点配置控制方法使系统的稳定性更好,具有较高的实际应用价值.
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| 关 键 词： | 自平衡两轮电动车 极点配置 LQR 仿真 |
Design and simulation of controlling system for the self-balance two wheel vehicle |
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| HOU Jihong,MA Congcheng.Design and simulation of controlling system for the self-balance two wheel vehicle[J].Journal of Hubei University(Natural Science Edition),2014(4):307-312. |
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| Authors: | HOU Jihong MA Congcheng |
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| Institution: | 1. Guangzhou Vocational College of Technology ＆ Business, Guangzhou 511442, China; School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China) |
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| Abstract: | We established system dynamic model for self-balance two wheel vehicle with the second Newton law. Computation of the controllability and observability was carried out. Expected pole placement and linear quadratic regulator（LQR）were used to design controller for the speed control of the vehicle. Matlab software was used to develop a simulation application for the two kinds of speed controllers. Results showed that both of the two control methods we are effective, and the expected pole placement control method achieved better stability, thus had more practicable application value. |
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| Keywords: | self-balance two wheel vehicle pole placement LQR simulation |
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