基于滚球倒立摆模型对新型自平衡车载人研究  

A new type of self-balancing vehicle manned design based on the rolling ball upside-down pendulum model

作　　者：段宇 付莹贞 苏涛勇 肖金平 刘子杰 彭翼杰 Duan Yu;Fu Yingzhen;Su Taoyong;Xiao Jinping;Liu Zijie;Peng Yijie(School of General Aviation,Nanchang Hangkong University,Jiangxi Nanchang,330063,China;School of Aeronautical Manufacturing Engineering,Nanchang Hangkong University,Jiangxi Nanchang,330063,China)

机构地区：[1]南昌航空大学通航学院,江西南昌330063 [2]南昌航空大学航空制造工程学院,江西南昌330063

出　　处：《机械设计与制造工程》2024年第3期34-38,共5页Machine Design and Manufacturing Engineering

基　　金：旋翼空气动力学重点实验室研究开放课题(RAL20200301)。

摘　　要：针对自平衡车制动性能差、抗干扰能力弱等问题,设计了一种新型自平衡车,利用滚球倒立摆模型研究新型自平衡车载人运动过程。构建动力学模型,基于PID控制方法论证了设计方案的可行性;基于自抗扰控制技术改进控制系统,使用Simulink进行仿真并与实验数据对比分析。结果表明,新型自平衡车在较大加速度(15 m/s^(2))时仍能保持稳定,动态品质较高。Aiming at the problems of poor braking and easy to fall of traditional self-balancing vehicles,a new type of self-balancing vehicle is designed.The manned situation is simplified to a roller ball inverted pendulum model,and the feasibility of the scheme is demonstrated by constructing a dynamic model and the PID control method.Based on the self-disturbance immunity control technology,the control system is improved,and Simulink is used for simulation and comparative analysis with experimental data.The results show that the new self-balancing vehicle can still ensure the overall stability and improve the dynamic quality when it is under greater acceleration(15 m/s^( 2)).

关 键 词：新型自平衡车 滚球倒立摆模型 PID 自抗扰控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]