陀螺角速度控制下的单辙两轮车自平衡研究  

Research on Self-balancing of Two-wheel Single Rut Vehicle Under Gyroscopic Angular Velocity Control

作　　者：陈宝[1] 李志勇[1] 秦智明 马维忍 Chen Bao;Li Zhi-yong;Qin Zhi-ming;Ma Wei-ren(Automotive Advanced Manufacturing Technology Key Laboratory,Ministry of Education,Chongqing University of Technology,Chongqing 40054,China;Jinkang Power New Energy Co.,Ltd,Chongqing 400030,China)

机构地区：[1]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [2]金康动力新能源有限公司,重庆400030

出　　处：《内燃机与配件》2024年第13期113-116,共4页Internal Combustion Engine & Parts

基　　金：重庆理工大学研究生创新项目资助(gzlcx20232014)。

摘　　要：针对单辙两轮车的不稳定的系统,提出通过控制两个单框架控制力矩陀螺(SGCMG)来研究单辙两轮车的自平衡问题,设计了一个基于滑模控制(SMC)的陀螺角速度控制器,控制SGCMG产生进动力矩,并采用一个奇异回避算法避免陀螺发生奇异现象,以实现整车在静止和动态下的自平衡,并通过仿真验证验证在越障和跨壕沟路况时的自平衡能力。仿真结果表明,所采用的控制方法能够以较小的框架角度使整车快速平衡到直立状态,并且在行驶过过程中很好的抵抗外部干扰,以一个距平衡角度2°范围内的侧倾角度行驶,仿真结果对单辙两轮车的平衡行驶有显著意义。Aiming at the unstable system of the two-wheel single rut vehicle,a study on the self-balancing problem of a two-wheel single rut vehicle is proposed by controlling two single-gimbal control moment gyro(SGCMG).The two-wheel dynamics model is built.A gyro angular velocity controller based on sliding mode control(SMC) is designed to control the rotation of SGCMG to generate precession torque.A singularity avoidance algorithm is employed to prevent the occurrence of gryocscopic singularities,enabling the self-balancing of the vehicle in both stationary and dynamic states.The self-balancing capability is validated through simulation,particularly in obstacle and cross-ditch road conditions.The simulation results show that the adopted control method can make vehicle quickly return to upright position with a small frame angle.Furthermore,it exhibits robust resistance to external disturbances,allowing the vehicle drive at a roll angle within 2° of the balance angle.The simulation results hold significant implications for the balanced locomotion of the two-wheel single rut vehicle.

关 键 词：单辙两轮车 控制力矩陀螺 角速度控制器 滑模控制 奇异回避算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]