两轮自平衡车横向动力学建模与控制研究进展  

Research Progress on Modeling and Control of Two-wheeled Self-Balancing Vehicle

作　　者：熊宇聪 张猛[1,2] 魏大忠 XIONG Yucong;ZHANG Meng;WEI Dazhong(Beijing Institute of Control Engineering,Beijing 100089,China;Beijing SunWise Space Technology Ltd,Beijing 100089,China)

机构地区：[1]北京控制工程研究所,北京100089 [2]北京轩宇空间科技有限公司,北京100089

出　　处：《电子科技》2019年第7期49-55,共7页Electronic Science and Technology

基　　金：北京控制工程研究所北京轩宇空间科技有限公司横向课题(1DZZ20170002)~~

摘　　要：两轮自平衡车是一种在外力矩作用下可维持自身姿态平衡的类自行车交通工具。与常见的交通工具相比,具有安全性高、环境友好、造型轻巧、驾驶便捷等显著优点,是智能交通工具发展的重要方向之一。关于两轮车的平衡性研究始于十九世纪后期,如今从理论探索到机体开发取得了极大的进展。文中论述并总结了两轮自平衡车在横向动力学建模、执行机构、控制算法方面的发展现状,并对未来的研究方向做出了展望。The two-wheeled self-balancing vehicle is a sort of bike-like vehicle, which can keep balance under action of external torque. Compared with common vehicles, the two-wheeled self-balancing vehicle has been characterized by high safety, environmental friendliness, light shape and convenient driving and has become the major trend of intelligent vehicle development. The study of balance of the two-wheeled vehicle date from the end of 19th century. And now, great achievements have been made both in the theoretical research and modeling. In this paper, the development status of two-wheel self-balancing vehicle in lateral dynamics modeling, actuators and control algorithms were discussed and summarized, and the future research directions were further prospected.

关 键 词：两轮车 自平衡控制 横向动力学 执行机构 姿态控制 控制算法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP271.4[自动化与计算机技术—控制科学与工程]