自平衡两轮电动车控制系统仿真研究  

Simulation Study on the Control System of the Two-Wheeled Self Balancing Electrical Vehicle

作　　者：姚尚明[1] 童亮[1] 杜迪[1] 

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《机械设计与制造》2018年第2期74-77,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51275053);北京市教委科研基地建设项目(PXM2014_014224_000065)

摘　　要：首先分析了自平衡两轮电动车的数学模型和无刷直流电机(BLDC)的数学模型,之后在MATLAB/SIMULINK中分别建立了自平衡两轮电动车的机械仿真模型以及无刷直流电机的转速和电流双闭环驱动系统的仿真模型。分别采用PID控制算法和模糊控制算法作为自平衡两轮电动车系统的平衡控制算法,联合了自平衡两轮电动车的机械模型和无刷直流电机双闭环驱动模型,从而建立了自平衡两轮车控制系统的仿真模型。仿真结果表明模糊控制器更适用于本系统,并通过改变车身质量和车身质心高度来检验自平衡车系统算法的鲁棒性,对比分析了实验结果。It firstly analyses the mathematic model of the two-wheeled self-balancing electrical vehicle （TWSBEV） and the Brushless Direct Current Motor （BLDC）, then the correct mechanical simulation model of TWSBEV and the double close loops simulation model with current and speed control of BLDC are built in MATLAB/SIMULINK. It respectively adopts PID and Fuzzy algorithm as the control algorithm of the TWSBEV, then establishes the simulation model of the control system of the TWSBEV on the basis of comb iningthe mechanical model of TWSBEV and the double close loops system of BLDC. The Fuzzy controller has been indicated to be more appropriate in this system by the simulation results. The robustness of the controller has also been testified by changing the weight and height of the vehicle body and the experimental res ults were compared and analyzed.

关 键 词：自平衡两轮电动车 无刷直流电机 PID 模糊控制 鲁棒性 

分 类 号：TH16[机械工程—机械制造及自动化] TM331[电气工程—电机]