自平衡式两轮电动车运动控制技术研究
发布时间：2019-05-27 18:30
【摘要】：近年来,随着城市建设迅速发展,城市的交通拥堵和汽车尾气污染等问题日渐严重。自平衡两轮车由可充电蓄电池供电,行驶过程中没有污染物排放,渐渐受到了科研人员的重视；作为轮式机器人的一种,该车体积小巧,结构简单,通过控制算法自身保持平衡,可以在狭窄的空间内灵活运行,操控性强,在民用军用领域具有广阔的应用前景。同时,尽管国内外学者针对自平衡两轮车的数学建模、控制算法以及机械结构设计展开了深入的研究,并取得了一定的成果(PID控制、模糊控制、滑模变结构控制以及神经网络控制等控制算法均在自平衡两轮车实验平台上得到了有效性验证),但是诸如“直行与转弯复合控制”问题一直未见报道,而其是整车运动控制的关键所在。本文建立了基于拉格朗日方程的自平衡两轮车数学模型,并对其进行了MATLAB/Simulink仿真验证。在线性化数学模型基础之上,推导出了直线运行与转向运行时的系统动态结构图。其直线运行系统动态结构图与一阶直线倒立摆具有相似性,因此其直行控制算法可以参考倒立摆的双闭环控制策略来进行设计。在数学模型基础上对自平衡两轮车系统进行了能观性与能控性分析,设计了自平衡两轮车直线运行时的双闭环PID控制器,倾角环作为内环采用PD控制,速度环作为外环采用PI控制,在MATLAB/Simulink环境下对内外环控制器的有效性与鲁棒性进行了验证。本文提出了二种“分别独立设计直行与转向控制器”的方法,避开系统所存在的“耦合问题”与复杂的解耦算法,以实现系统的有效控制；同时,分析了系统的对称耦合特性,根据转向运行系统动态结构图设计了自平衡两轮车转向环控制器,其采用PI控制方案。在实现自平衡两轮车的二维平面运动控制中,基于系统耦合特性设计了自平衡两轮车直行与转向复合控制系统,对复合控制器的进行了MATLAB/Simulink仿真验证,仿真实验结果证明了方案的有效性。
[Abstract]:In recent years, with the rapid development of urban construction, urban traffic congestion and automobile exhaust pollution are becoming more and more serious. Self-balancing two-wheeled vehicle is supplied by rechargeable battery, and there is no pollutant discharge in the process of driving, which has been paid more and more attention by scientific researchers. As a kind of wheeled robot, the vehicle has the advantages of small size and simple structure. By keeping the balance of the control algorithm itself, it can run flexibly in narrow space and has strong maneuverability. It has a broad application prospect in the field of civil and military. At the same time, although scholars at home and abroad have carried out in-depth research on the mathematical modeling, control algorithm and mechanical structure design of self-balanced two-wheeled vehicle, and have achieved some results (PID control, fuzzy control, The control algorithms such as sliding mode variable structure control and neural network control have been verified on the experimental platform of self-balancing two-wheeled vehicle), but the problems such as "direct and turning compound control" have not been reported. It is the key to the motion control of the whole vehicle. In this paper, a mathematical model of self-balanced two-wheeler based on Lagrangian equation is established and verified by MATLAB/Simulink simulation. On the basis of linear mathematical model, the dynamic structure diagram of the system in straight line operation and steering operation is derived. The dynamic structure diagram of the straight line running system is similar to that of the first order linear inverted pendulum, so its straight line control algorithm can be designed with reference to the double closed loop control strategy of the inverted pendulum. On the basis of mathematical model, the observability and controllability of the self-balancing two-wheeled vehicle system are analyzed, and a double closed-loop PID controller for the straight-line operation of the self-balanced two-wheeled vehicle is designed. The inclination loop is controlled by PD as the inner loop. The speed loop is controlled by PI as the outer loop, and the effectiveness and robustness of the inner and outer loop controller are verified in MATLAB/Simulink environment. In this paper, two methods of "independent design of straight line and steering controller" are proposed to avoid the "coupling problem" and complex decoupling algorithm in order to realize the effective control of the system. At the same time, the symmetrical coupling characteristics of the system are analyzed, and the steering ring controller of the self-balancing two-wheeled vehicle is designed according to the dynamic structure diagram of the steering operation system, and the PI control scheme is adopted. In the realization of two-dimensional plane motion control of self-balancing two-wheeled vehicle, a direct and steering compound control system of self-balancing two-wheeled vehicle is designed based on the coupling characteristics of the system, and the MATLAB/Simulink simulation verification of the composite controller is carried out. The simulation results show the effectiveness of the scheme.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U48
本文编号：2486381
[Abstract]:In recent years, with the rapid development of urban construction, urban traffic congestion and automobile exhaust pollution are becoming more and more serious. Self-balancing two-wheeled vehicle is supplied by rechargeable battery, and there is no pollutant discharge in the process of driving, which has been paid more and more attention by scientific researchers. As a kind of wheeled robot, the vehicle has the advantages of small size and simple structure. By keeping the balance of the control algorithm itself, it can run flexibly in narrow space and has strong maneuverability. It has a broad application prospect in the field of civil and military. At the same time, although scholars at home and abroad have carried out in-depth research on the mathematical modeling, control algorithm and mechanical structure design of self-balanced two-wheeled vehicle, and have achieved some results (PID control, fuzzy control, The control algorithms such as sliding mode variable structure control and neural network control have been verified on the experimental platform of self-balancing two-wheeled vehicle), but the problems such as "direct and turning compound control" have not been reported. It is the key to the motion control of the whole vehicle. In this paper, a mathematical model of self-balanced two-wheeler based on Lagrangian equation is established and verified by MATLAB/Simulink simulation. On the basis of linear mathematical model, the dynamic structure diagram of the system in straight line operation and steering operation is derived. The dynamic structure diagram of the straight line running system is similar to that of the first order linear inverted pendulum, so its straight line control algorithm can be designed with reference to the double closed loop control strategy of the inverted pendulum. On the basis of mathematical model, the observability and controllability of the self-balancing two-wheeled vehicle system are analyzed, and a double closed-loop PID controller for the straight-line operation of the self-balanced two-wheeled vehicle is designed. The inclination loop is controlled by PD as the inner loop. The speed loop is controlled by PI as the outer loop, and the effectiveness and robustness of the inner and outer loop controller are verified in MATLAB/Simulink environment. In this paper, two methods of "independent design of straight line and steering controller" are proposed to avoid the "coupling problem" and complex decoupling algorithm in order to realize the effective control of the system. At the same time, the symmetrical coupling characteristics of the system are analyzed, and the steering ring controller of the self-balancing two-wheeled vehicle is designed according to the dynamic structure diagram of the steering operation system, and the PI control scheme is adopted. In the realization of two-dimensional plane motion control of self-balancing two-wheeled vehicle, a direct and steering compound control system of self-balancing two-wheeled vehicle is designed based on the coupling characteristics of the system, and the MATLAB/Simulink simulation verification of the composite controller is carried out. The simulation results show the effectiveness of the scheme.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U48
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