基于滑模控制的无人驾驶自行车设计与仿真  

Design and Simulation of the Unmanned Bicycle Based on Sliding Mode Control

作　　者：刘佩佩 周亚丽[1] 张奇志[1] LIU Pei-pei;ZHOU Ya-li;ZHANG Qi-zhi(School of Automation,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《计算机仿真》2023年第2期449-453,465,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(12172059)。

摘　　要：针对无人驾驶自行车无法实现自平衡的问题,设计一种由滚珠丝杠滑台、滑块、曲柄和连杆组成的曲柄滑块机构,并采用滑模控制方法来控制车体的平衡和运动方向。先对曲柄滑块机构的运动特性及受力进行了分析,分别得到滑块位置与前车把转角的关系以及转向电机输出力矩与前车把所受力矩的关系。通过分析无人驾驶自行车在直立行驶过程中的动力学特性,采用拉格朗日方程法建立了系统的动力学模型。设计了滑模控制器并进行了仿真分析。仿真结果表明,文中所采用的控制方法可以在转向电机输出很小力矩的情况下实现无人驾驶自行车的直立平衡运动。In this paper,due to the fact that the unmanned bicycle cannot realize self-balance,a crank slider mechanism composed of a ball screw sliding platform,sliding block,crank and connecting rod was designed,and the sliding mode control method was used to control the balance and movement direction of the bicycle.Firstly,the kinematic characteristics and forces of the crank slider mechanism were analyzed,and the relationship between the position of the slider and the angle of the front handlebar and the relationship between the output torque of the steering motor and the torque of the front handlebar was obtained.Secondly,by analyzing the dynamic characteristics of the unmanned bicycle in the process of upright riding,the dynamic model of the system was established by using the Lagrange equation method.Finally,the sliding mode controller was designed and simulations were carried out.Simulation results show that the control method proposed in this paper can realize the upright balancing motion of the unmanned bicycle under the condition that the steering motor output torque is very small.

关 键 词：无人驾驶自行车 曲柄滑块机构 直立平衡运动 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]