独轮自平衡电动车的建模与运动平衡控制  

The modeling and movement balance control of self-balancing electric unicycle

作　　者：阮晓钢[1] 马圣策 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《中国科技论文》2014年第7期852-856,共5页China Sciencepaper

基　　金：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)

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。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.

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 

分 类 号：U469.72[机械工程—车辆工程]