基于自适应滑模控制的异轴两轮自平衡车  

Different-axis Two-wheeled Self-balancing VehiclesBased on Adaptive Sliding Mode Control

作　　者：叶青 田杰[1] YE Qing;TIAN Jie(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,南京210037

出　　处：《计算机测量与控制》2024年第11期169-176,共8页Computer Measurement &Control

摘　　要：对异轴两轮自平衡车(DATWSBV)进行了研究,将其简化为具有陀螺效应的倒立摆系统(IPS),采用拉格朗日方程建立非线性数学模型,并设计了滑模控制器(SMC)和自适应滑模控制器(ASMC);对无控制、SMC控制以及ASMC控制的3种模型分别进行仿真,结果表明,无控制的异轴两轮自平衡车仅在陀螺仪的作用下无法恢复直立和完成转向;相较于SMC,ASMC能使IPS直行受到干扰时更快地恢复直立,且能达到期望的侧倾角以实现转向;此外,在BikeSim中建立了DATWSBV的实车模型,验证了此Bikesim模型和IPS数学模型的一致性,并基于BikeSim和Matlab/Simulink的联合仿真进一步验证了ASMC的控制效果;结果表明,ASMC能够保证异轴两轮自平衡车辆的抗干扰能力和转向能力。A study is conducted on a different-axis two-wheeled self-balancing vehicle(DATWSBV),which is simplified as an inverted pendulum system(IPS)with gyroscope effect,a nonlinear mathematical model is established by using an Lagrange equation,and a sliding mode controller(SMC)and an adaptive sliding mode controller(ASMC)are designed.The three uncontrolled,SMC controlled and ASMC controlled models are simulated separately,the results show that the uncontrolled two-wheeled self-balancing vehicle can not restore the upright and complete the steering with a gyroscope.The ASMC can make the IPS straight faster than the SMC with a disturbance,and achieves a desired roll angle for steering.In addition,the actual vehicle model of the DATWSBV is established in the BikeSim,which verifies the consistency between the BikeSim model and the IPS mathematical model,and further verifies the control effect of ASMC based on the joint simulation of the BikeSim and Matlab/Simulink.The results show that the ASMC can ensure the anti-interference ability and steering ability of heteroaxial two-wheeled self-balancing vehicles.

关 键 词：异轴两轮自平衡车 陀螺效应 倒立摆 滑模控制 自适应滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]