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由于自平衡式两轮电动车有两个驱动车轮,每个车轮独立驱动且共用一个车体,每一个车轮的驱动转矩与速度都会影响小车的运动性能;因此,自平衡式两轮电动车系统运行存在耦合控制问题。为了解决由于此耦合而带来的控制问题,基于车体的机械结构与驱动形式进行建模与模型验证,首先证明了系统耦合特性的存在,然后根据模型特征给出一种解决耦合问题方法。其方法是将自平衡车两个独立而又存在耦合的驱动车轮看作两个具有力矩传输关系的等价系统,为合理的避开控制时带来的耦合问题,可将两个等价系统做合并处理,使其等效为一个不具耦合特征的独立系统,这种转差补偿控制方案成功解决了结构耦合带来的各种问题。仿真实验结果证明了所建立模型与控制方案的有效性。
Since self-balancing two-wheeled electric vehicles have two driving wheels, each wheel is driven independently and share a body, the driving torque and speed of each wheel will affect the movement performance of the car; therefore, self-balancing two-wheeled electric vehicles There are coupling control problems in system operation. In order to solve the control problem caused by this coupling, the mechanical structure and the driving form of the vehicle body are modeled and verified. First, the existence of the coupling characteristic of the system is proved. Then, a method to solve the coupling problem is given according to the characteristics of the model. The method is to consider two independent and coupling driven wheels of a self-balancing vehicle as two equivalent systems with torque transmission relations. In order to avoid the coupling problem caused by the control reasonably, two equivalent systems So as to make it equivalent to an independent system with no coupling characteristics. This slip compensation control scheme successfully solves various problems caused by structural coupling. Simulation results show the effectiveness of the proposed model and control scheme.