非同轴前后轮自平衡车非线性转弯平衡控制  

Steering Control of Non-Coaxial Front and Rear Wheel Self-balancing Vehicle

作　　者：董慧芬 宋金海 DONG Hui-fen;SONG Jin-hai(School of Electronic Information and Automation Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300

出　　处：《计算机仿真》2022年第3期396-401,433,共7页Computer Simulation

基　　金：天津自然基金项目(17JCYBJC18200)。

摘　　要：针对非同轴前后轮自平衡车转弯平衡控制问题,提出一种基于非线性动力学模型的转弯平衡控制方法。在分析自平衡车稳定转弯原理的基础上,以自平衡车车体左右倾斜角、转向角、陀螺进动角为广义坐标,利用拉格朗日法建立平衡车转向的MIMO仿射非线性动力学模型;基于反馈精确线性化理论设计PID控制器,进行自平衡车的转弯平衡控制以及对输入的解耦;最后基于该动力学模型和控制算法,在Matlab中的Simulink平台上进行仿真,实验结果表明上述控制算法能够在给定一定转向角和速度下快速且稳定地控制倾斜姿态,同时拥有一定抗干扰能力,验证了动力学模型的正确性和反馈线性化控制算法的有效性。Aiming at the problem of turning balance control for non-coaxial front and rear wheel self-balancing vehicles,a steering balance control method based on a nonlinear dynamics model is proposed.On the basis of analyzing the stable steering principle about the self-balancing vehicle,the left-right inclination angle,the steering angle of the vehicle and the gyro precessing’s angle were selected as the generalized coordinates,and the MIMO affine nonlinear dynamics model of the self-balancing vehicle steering was established by using the Lagrangian method.The PID controller was designed based on the feedback precise linearization theory to control the steering balance and decouple the input.Finally,based on the dynamic model and control algorithm,the simulation was done by the MATLAB Simulink platform.The simulation experimental results show that the proposed algorithm can control the lean attitude rapidly and stably at a given steering angle and speed,and also has a certain anti-interference ability,the correctness of the dynamic model and the effectiveness of the feedback linearization control algorithm is validated.

关 键 词：前后轮平衡车 转弯动力学模型 仿射非线性系统 比例积分微分 反馈线性化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]