两轮平衡车的Simulink可视化仿真平台设计  

Design of a Visual Simulation Platform for a Two-wheel Self-balanced Vehicle Based on Simulink

作　　者：郭民环 王鹏[1] 周志龙 GUO Minhuan;WANG Peng;ZHOU Zhilong(School of Electronic Information Engineering,Suzhou Vocational University,Suzhou 215104,China)

机构地区：[1]苏州市职业大学电子信息工程学院,江苏苏州215104

出　　处：《苏州市职业大学学报》2022年第2期27-32,42,共7页Journal of Suzhou Vocational University

基　　金：苏州市职业大学研究性课程项目(SZDYKC-210703);江苏省高等学校基础科学(自然科学)研究面上项目(21KJB510046)。

摘　　要：分析两轮平衡车的工作原理,建立其动力学模型,设计串级式PID控制器,在Simulink环境下搭建两轮平衡车的仿真控制模型,并测试两轮平衡车恢复平衡、跟踪阶跃位置指令、跟踪阶跃转向指令和跟踪手动摇杆指令等性能。仿真结果表明,设计的仿真平台能够使学生更加直观地观察两轮平衡车的运动状态,有助于提高教学效果,同时对工程应用也有一定的借鉴价值。This paper analyzed the working principles of a two-wheel self-balanced vehicle,established its dynamics model,and designed a cascaded PID controller.A simulation control model for the two-wheel vehicle was set up in the environment of Simulink.Then,several simulation tests were implemented such as regaining balance,tracking step command of position and direction,tracking a manually generated signals.The simulation results showed that the design of that simulation platform enabled students to observe the movement of that vehicle more directly and thus it can help promote teaching effectiveness and it is of reference value to engineering application.

关 键 词：两轮平衡车 PID控制 SIMULINK仿真 数据可视化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]