一种新的两轮自平衡电动车控制方法  

Sort of novel control method for two wheels self-balancing scooter

作　　者：段其昌[1] 翁珏 李丰兵[1,2] 

机构地区：[1]重庆大学自动化学院,重庆400030 [2]桂林电子科技大学数学与计算科学学院,广西桂林541004

出　　处：《计算机应用研究》2013年第12期3678-3681,共4页Application Research of Computers

基　　金：国家自然科学基金资助项目(11061011);研究生科技创新基金资助项目(CDJXS12170007)

摘　　要：为了克服目前两轮自平衡电动车控制系统存在的噪声和漂移误差大,受扰后调节时间长,超调量较大等问题,提出了一种新的控制方法。该方法基于卡尔曼信号融合滤波,构建了直接转矩电流伺服单元,对电动车进行滑模变结构控制。实验表明滤波后倾角度噪声误差由6°降到2.5°;角速度噪声误差由0.25 rad·s-1降到0.10 rad·s-1;零位漂移误差由0.25 rad·s-1降为0.08 rad·s-1;系统受扰动后,该方法调节时间更短、无超调、鲁棒性更强。实验结果均表明该方法有更好的动态性能和稳定性。In order to overcome the puzzles of being large in noise and drift error, long in adjusting time after suffering from interference, lager in overshoot of control system for two wheels self-balancing scooter, this paper proposed a sort of novel control method. Based on the signal fusion of Kalman filtering, it constructed the servo unit of direct torque current, and made the control of variable structure of sliding mode for the scooter. The filtering experiment shows that the angle noise decreases from 6° to 2.5°, the angle speed noise error decreases from 0. 25 rad·s^-1 to 0.10 rad·s^-1 , the zero-drift error decreases from 0. 25 rad ·s^-1 to 0.08 rad ·s^-1. And after suffering from interference, the proposed method would be shorter in adjusting time, stronger in robustness, and no overshoot. The experiments show that the proposed method owns better dynamic performance and stability.

关 键 词：自平衡控制 卡尔曼滤波 直接转矩电流 滑模变结构控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]