自平衡独轮电动车控制方法研究与应用进展  

Progress in the Research and Application of the Control Method for the Self-balancing Electric Unicycle

作　　者：梁广超[1,2] 叶凌箭[2] 

机构地区：[1]太原科技大学,山西太原030041 [2]浙江大学宁波理工学院,浙江宁波315100

出　　处：《电气自动化》2015年第6期1-4,23,共5页Electrical Automation

基　　金：国家自然科学基金项目(61304081);浙江省自然科学基金资助项目(LQ13F030007);宁波市创新团队(2012B82002;2013B82005)

摘　　要：自平衡独轮电动车作为一种新型、环保、便捷的智能代步工具,已受到各个领域的的广泛关注。介绍了自平衡独轮电动车控制系统的组成,重点介绍了自平衡车控制系统中已有应用的线性控制、智能控制和模型预测控制等算法的工作原理以及在自平衡控制系统中的应用进展。针对存在的问题与不足,以及对其在实际应用中的优劣进行了探讨,并分析了独轮电动车的发展趋势。As a new, envimnmentaUy friendly and convenient smart travel tool, the self-balancing electric unicycle has attracted much attention from different fields. This paper introduces the composition of its control system , focusing on the working principle of the linear control, intelligent control and model predictive control already applied to the self-balancing control system, as well as their application progress. Existing problems and shortcomings, as well as its advantages and disadvantages in practical applications are discussed, and the development tendency of the electric unicycle is also analyzed.

关 键 词：自平衡独轮电动车 控制系统 线性控制 智能控制 预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]