基于载人自平衡车运动控制的优化研究

发布时间：2018-06-10 16:13

本文选题：自平衡系统 + 运动控制　；参考：《广西师范大学》2017年硕士论文

【摘要】：载人自平衡车是一种由电力驱动,具有自动平衡能力的新型绿色交通工具。它突破传统车的概念,将静态稳定的车体改进为静态非平衡性的车体,具有自动平衡、轻便易携、节能减排、适用场景广等优良特点,有望成为下一代个人短途交通代步工具的主力军。近年来随着平衡车市场的不断发展,平衡车的设计研究也在不断的深化拓展。如何提高平衡车系统的载人安全性,如何拓宽平衡车的适用场景,如何优化其运动控制使平衡车在复杂的环境中更加灵活圆满的完成多项任务,是目前平衡车研究领域的主要问题。本论文是在深入调查自平衡车市场的基础上,基于自平衡车基本框架设计的一款双轮载人自平衡智能车,并针对运动控制进行了改良优化。它不仅实现了将传统观念中静态稳定的车体结构改进为静态非平衡性结构,同时也是集环境采集与检测、动态规划与决策、行为状态控制与执行的一套完整的系统。并且相对于其他自平衡车,本文设计的作品在减小成本的基础上还增加了智能语音反馈安全系统,具有更高的安全性、在后续的科研中具有更强的拓展性。本论文主要是利用自动控制理论与技术、动力学理论、力学、电子技术、软件技术等专业知识,对载人自平衡车系统进行研究分析和设计制作。主要工作如下:1、设计了一款合理的自平衡车研究的平台,根据设计的总体框架设计各个硬件模块电路,包括电源电路、电机驱动电路、速度反馈模块电路、电流电压检测电路等;2、在已有平台和改进电路的情况下,设计了一套软件控制方案,并完成相应软件部分的设计;3、针对系统运动控制方面进行改良优化,包括设计出直立环PD,增加速度反馈对PI控制器的优化,以及对转向PD进行改良设计等;4、创新性的增加智能语音安全反馈系统以增加平衡车的实用性与安全性;5、完成优化后车体的制作搭建,以及进行了系统自平衡性测试、载人测试等性能测试。综上,本论文提出了一套切实可行的自平衡车研究方案,完成了双轮载人自平衡车的制作。
[Abstract]:Manned self-balancing vehicle is a new type of green vehicle which is driven by electric power and has the ability of automatic balance. It breaks through the concept of traditional car and improves the static and stable car body into static unbalanced car body. It has the advantages of automatic balance, portability, energy saving and emission reduction, wide applicable scenarios, and so on. It is expected to become the main force of the next generation of personal short-distance transportation tools. In recent years, with the development of the balanced vehicle market, the design research of the balanced vehicle is also deepening and expanding. How to improve the safety of the balanced vehicle system, how to broaden the applicable scene of the balanced vehicle, how to optimize its motion control, how to make the balancing vehicle more flexible and complete many tasks in the complex environment, It is the main problem in the field of balance vehicle research. Based on a thorough investigation of the market of self-balancing vehicle, this paper designs a two-wheel manned self-balancing intelligent vehicle based on the basic frame of self-balancing vehicle, and improves and optimizes the motion control. It not only improves the static and stable car-body structure in the traditional concept into the static unbalanced structure, but also is a complete system that gathers and detects the environment, dynamic programming and decision-making, and behavior state control and execution. Compared with other self-balancing vehicles, the design of this paper also increases the intelligent voice feedback security system on the basis of reducing the cost, which has higher security, and has stronger expansibility in the subsequent scientific research. In this paper, the automatic control theory and technology, dynamics theory, mechanics, electronic technology, software technology and other professional knowledge are used to study, analyze and design the manned self-balancing vehicle system. The main work is as follows: 1. A reasonable research platform for self-balancing vehicle is designed. According to the overall framework of the design, every hardware module circuit is designed, including power supply circuit, motor driving circuit, speed feedback module circuit. Under the existing platform and the improved circuit, a set of software control scheme is designed, and the corresponding software part is designed to improve and optimize the motion control of the system. Including the design of vertical ring PDs to increase the speed feedback to the Pi controller optimization, And the improved design of steering PD and so on, innovatively adding intelligent voice safety feedback system to increase the practicability and safety of the balanced vehicle, completing the production and construction of the optimized car body, and carrying out the self-balancing test of the system. Manned testing and other performance tests. In summary, this paper puts forward a set of feasible research scheme of self-balancing vehicle, and completes the manufacture of double-wheel manned self-balancing vehicle.
【学位授予单位】：广西师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U48;TP273

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