新型无舵机转向电动代步车设计与开发  

New Design and Development of Electric Scooter Steering

作　　者：阚英哲 罗勇[1] 龙克俊 谢小洪[1] 程新[1] 

机构地区：[1]重庆理工大学重庆汽车学院,重庆400054

出　　处：《重庆理工大学学报（自然科学）》2016年第9期10-17,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金青年科学基金资助项目(51305475);重庆市基础与前沿研究计划项目(cstc2013jcyj A60004);重庆市教委科学技术研究项目(KJ1500927)

摘　　要：针对市场上现有代步车、平衡车体积、质量较大,而且需要一定的时间来学习才能掌握驾驶技能的问题,设计了一款转向灵活平稳、车速安全适中、体积小巧、质量轻便的新型代步车。以轻便实用为原则,对整车的机械结构与目标参数进行了设计。针对不使用舵机而采用转速差来实现转向的特点,研究了转向角的计算方法。同时为了实现转向的平稳性,对控制系统的硬件和软件进行了规划与设计。采用PID控制方法实现对电机的稳定控制。对样车的测试结果表明:所设计的代步车结构合理、操作简单、行驶平稳,能满足广大使用者对代步车功能的需求。Aiming the existing scooter,that car balance volume is bigger,and quality is heavy and needs a certain amount of time to learn to master the ability to drive the product at the market,we designed a steering and moderate speed with smooth and flexible,and small volume and light quality new scooter. Based on the principle of light and practical,the mechanical structure and target parameters of the vehicle were designed. In view of the characteristic of steering without using the steering gear,the calculation method of the steering angle was studied. At the same time,the hardware and software of the control system were designed and implemented in order to achieve the stability of the steering. Finally,PID control was used to realize the stability control of the motor.Tests on the prototype show that the scooter has reasonable structure,simple operation and is easy to get started,stable running,and can meet the needs of the majority of users on the car instead of walking function.

关 键 词：新型代步车 转向设计 转角计算 PID 

分 类 号：U462[机械工程—车辆工程]