两轮自平衡代步车控制策略及动力学仿真  

Control Strategy and Dynamic Simulation of Two-Wheeled Self-Balancing Vehicle

作　　者：姜立标[1] 何家寿[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2016年第1期9-15,共7页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50975091);广东省自然科学基金资助项目(9451064101003049);广州市花都区科信局2013年重大科技攻关项目(HD132D-002)~~

摘　　要：针对两轮自平衡代步车自平衡控制和转向控制的问题,提出了基于自适应差分进化算法(ADE)的自抗扰控制(ADRC)策略和改进的比例-积分-微分(PID)控制策略.首先应用拉格朗日公式法,基于广义坐标下非完整动力学Routh方程,建立两轮自平衡代步车的非线性数学模型.然后为自平衡控制部分设计自抗扰控制策略,运用自适应差分进化算法进行参数整定,并为转向控制部分设计融合安排过渡过程(TD)的PID控制策略.最后应用虚拟样机技术,通过Adams软件建立整车动力学模型,并结合Matlab/Simulink控制策略模型进行联合仿真.结果表明,文中所提出的控制策略能有效地实现姿态控制,调节速度快,控制精度高,并且具有较强的抗干扰能力.Aiming at the problems of the self-balancing control and steering control of two-wheeled self-balancing vehicles, an active disturbance rejection control ( ADRC) strategy on the basis of the adaptive differential evolution ( ADE) algorithm and an improved proportion-integral-derivative ( PID) control strategy are proposed.Firstly, on the basis of the nonholonomic dynamic Routh equation in generalized coordinates, a nonlinear mathematical model of two-wheeled self-balancing vehicles is constructed by using the Lagrange formula.Then, an ADRC strategy whose parameters are adjusted by means of the ADE algorithm is designed for the self-balancing control, and a PID control strategy combining tracking differentiator ( TD) is designed for the steering control.Finally, a dynamic model of the whole vehicle is constructed through the Adams software by applying the virtual prototype technology, and a co-simulation is performed by combining the Matlab/Simulink control strategy model.The results show that the proposed control strategies can effectively keep the gesture control with a high adjusting speed, a high control precision and a strong capacity of resisting disturbance.

关 键 词：两轮自平衡代步车 数学模型 自抗扰控制 自适应差分进化算法 动力学仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]