基于车轮倾角自矫正的平衡车  

Balance Vehicle Based on Self Correction of Wheel Tilt Angle

作　　者：姚炜[1] 张伟[2] Yao Wei;Zhang Wei(Wuxi Machinery and Electron Branch,Jiangsu Union Technical Institut;Wuxi City Vocational and Technical College,wuxi 214028, China)

机构地区：[1]江苏联合职业技术学院,无锡214028 [2]无锡城市职业技术学院,无锡214028

出　　处：《齐鲁工业大学学报》2018年第1期69-72,共4页Journal of Qilu University of Technology

基　　金：江苏省自然科学基金面上项目(BK20161229);江苏省高校自然科学研究面上项目(16KJB510046)

摘　　要：为了提高平衡车在全速速范围内直线行驶的稳定性,提出了基于车轮倾角自矫正的平衡车研究。将自适应动态面控制技术运用到平衡车车轮倾角调节系统中去,首先采用拉格朗日方法建立平衡车动力学模型,然后针对车轮倾角设计自适应动态面控制系统,最后搭建平衡车倾角调节系统的Simulink仿真平台,分别在不同给定速度下进行仿真实验,仿真结果表明,基于车轮倾角自矫正的平衡车系统能够在全速下稳定直线运行。In order to improve the stability of the balance venicle＇s straight line running in full speed range,a study on the balance vehicle based on the self correction of the wheel tilt angle is proposed.Adaptive dynamic surface control technology was applied to the wheel angle adjusting system,dynamics model by Lagrange method,then desion an adaptive dy namic surface contrd system according to the weel angle. Simulink simulation platform of the angle adjusting system was finally set up,and experiments were carried out respectively in different speeds. The simulation results showed that the balance car disigned with wheel and self-correcting system can more stablely along streight line of full speed.

关 键 词：平衡车 车轮倾角自矫正 自适应动态面 拉格朗日法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]