采用SGCMG的两轮单辙平台自平衡控制技术  

Two-wheeled single track platform self-balancing control technology using SGCMG

作　　者：但远宏[1] 彭润山 王敬一 钟海洋 和超 陈浩 DAN Yuanhong;PENG Runshan;WANG Jingyi;ZHONG Haiyang;HE Chao;CHEN Hao(School of Computer Science and Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学计算机学院,重庆400054

出　　处：《重庆理工大学学报（自然科学）》2024年第7期110-117,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市科委重点攻关计划项目(2021CCB03);国防科技创新特区项目(20-163-**-ZT-***-***-01)。

摘　　要：针对以自行车、摩托车为代表的两轮单辙平台的自然不稳定问题,采用单框架控制力矩陀螺(SGCMG)为平衡控制机构,研究两轮单辙平台不同工况下自平衡控制算法。分析两轮单辙平台横向力矩,推导横滚转动动力学方程,并根据不同状态误差设计了增益调度PID控制器;建立轮-地接触点模型,修正曲线运动时目标横滚角,减小反馈静差,获得更好的动态响应;以前叉转向趋势预估未来时刻转向角度与目标平衡横滚角度,提前调整姿态以重力矩抵消离心力矩,模拟人骑行时的预判压弯行为。相关算法经仿真验证与实车测试,可在静止与曲线运动等工况下保持动态平衡,效果良好,表明了算法的有效性。To address the natural instability of the two-wheeled single-rut platform represented by bicycles and motorcycles,the single-frame control moment gyroscope(SGCMG)is employed as the balance control mechanism,and the self-balancing control algorithm of the two-wheeled single-rut platform under different working conditions is studied.The transverse moments of the two-wheeled single-rutted platform are analyzed,the rolling rotation dynamic equation is derived,and the gain scheduling PID controller is designed according to different state errors.The wheel-ground contact point model is built to correct the roll angle of the target during the curve movement,reduce the feedback static difference,and obtain better dynamic response.The steering trend of the fork predicts the steering angle and the roll angle of the target balance at the future moment,adjusts the attitude in advance to offset the centrifugal moment with the gravitational moment,and simulates the predicted bending behavior when people are riding.The relevant algorithm is verified by simulation and tested on vehicles.It maintains a dynamic balance under the stationary and curvilinear motion and delivers excellent performances,proving the effectiveness of the algorithm.

关 键 词：平衡控制 控制力矩陀螺 两轮单辙平台 横滚角预测 增益调度PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]