无人自行车的负载特性研究与分析  

Research and Analysis of Load Characteristics of Unmanned Bicycle

作　　者：黄用华[1] 唐心旭 庄未[1] 萧洪亮 骆泽众 张兴原 HUANG Yonghua;TANG Xinxu;ZHUANG Wei;XIAO Hongliang;LUO Zezhong;ZHANG Xingyuan(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《机械设计与研究》2023年第3期5-15,20,共12页Machine Design And Research

基　　金：国家自然科学基金资金项目(51865005,51765001,52165001);广西自然科学基金项目(2018GXNSFAA281297,2018GXNSFAA281301)。

摘　　要：针对一种无机械平衡调节装置的无人自行车,基于查普雷金(Chaplygin)线性化动力学模型,分别采用全阶滑模控制方法和线性二次型调节器(Linear Quadratic Regulator,LQR)控制方法,研究负载的质量变化和竖直位置变化对无人自行车侧向平衡运动的影响问题。参考雅可比矩阵的方法,将无人自行车的查普雷金力学模型线性化处理,同时分别采用全阶滑模控制器和LQR控制器,按一定梯度改变负载质量和竖直位置,对无人自行车侧向平衡运动进行数值仿真和物理样机的实验研究,分析负载的质量和竖直位置对侧向平衡运动控制的影响规律。研究结果表明:若负载质量增加,车架横滚角和车把转角的超调量增大,车把力矩的超调量减小;若负载竖直向上移动,车架横滚角和横滚角速度的超调量均减小,车把转角速度和车把力矩的超调量均增大。研究结果可为无人自行车相关实验的电机型号和电池容量选用提供一定的参考。The full-order sliding mode control method and the linear quadratic regulator(LQR)control method are used to study the influence of mass load and vertical position on the lateral balancing motion of a unmanned bicycle without a mechanical balancing device.Based on the Jacobian matrix method,the Chaplygin mechanical model of the unmanned bicycle is linearized.Using the full order sliding mode controller and the LQR controller at the same timethe correlation matrix of the structure with various mass load and mass vertical position is determined.Through numerical simulation and physical prototype experimental research on the lateral balance motion of the unmanned bicycle,the influence of load mass and vertical position of mass on the lateral balance motion control performance is analyzed.The results show that if the load mass increases,the overshoot of frame roll angle and handlebar angle increases,and the overshoot of handlebar torque decreases.When the load moves vertically upward,the overshoot of frame roll angle and roll angular velocity both decrease,and the overshoot of handlebar angle velocity and handlebar torque both increase.The results can provide a certain reference for the selection of motor type and battery capacity in the experiments of unmanned bicycle.

关 键 词：无人自行车 负载质量 负载位置 查普雷金线性化模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]