自平衡式兩輪電動車運動控制技術研究
發(fā)布時間：2019-05-27 18:30
【摘要】：近年來,隨著城市建設迅速發(fā)展,城市的交通擁堵和汽車尾氣污染等問題日漸嚴重。自平衡兩輪車由可充電蓄電池供電,行駛過程中沒有污染物排放,漸漸受到了科研人員的重視；作為輪式機器人的一種,該車體積小巧,結構簡單,通過控制算法自身保持平衡,可以在狹窄的空間內(nèi)靈活運行,操控性強,在民用軍用領域具有廣闊的應用前景。同時,盡管國內(nèi)外學者針對自平衡兩輪車的數(shù)學建模、控制算法以及機械結構設計展開了深入的研究,并取得了一定的成果(PID控制、模糊控制、滑模變結構控制以及神經(jīng)網(wǎng)絡控制等控制算法均在自平衡兩輪車實驗平臺上得到了有效性驗證),但是諸如“直行與轉(zhuǎn)彎復合控制”問題一直未見報道,而其是整車運動控制的關鍵所在。本文建立了基于拉格朗日方程的自平衡兩輪車數(shù)學模型,并對其進行了MATLAB/Simulink仿真驗證。在線性化數(shù)學模型基礎之上,推導出了直線運行與轉(zhuǎn)向運行時的系統(tǒng)動態(tài)結構圖。其直線運行系統(tǒng)動態(tài)結構圖與一階直線倒立擺具有相似性,因此其直行控制算法可以參考倒立擺的雙閉環(huán)控制策略來進行設計。在數(shù)學模型基礎上對自平衡兩輪車系統(tǒng)進行了能觀性與能控性分析,設計了自平衡兩輪車直線運行時的雙閉環(huán)PID控制器,傾角環(huán)作為內(nèi)環(huán)采用PD控制,速度環(huán)作為外環(huán)采用PI控制,在MATLAB/Simulink環(huán)境下對內(nèi)外環(huán)控制器的有效性與魯棒性進行了驗證。本文提出了二種“分別獨立設計直行與轉(zhuǎn)向控制器”的方法,避開系統(tǒng)所存在的“耦合問題”與復雜的解耦算法,以實現(xiàn)系統(tǒng)的有效控制；同時,分析了系統(tǒng)的對稱耦合特性,根據(jù)轉(zhuǎn)向運行系統(tǒng)動態(tài)結構圖設計了自平衡兩輪車轉(zhuǎn)向環(huán)控制器,其采用PI控制方案。在實現(xiàn)自平衡兩輪車的二維平面運動控制中,基于系統(tǒng)耦合特性設計了自平衡兩輪車直行與轉(zhuǎn)向復合控制系統(tǒng),對復合控制器的進行了MATLAB/Simulink仿真驗證,仿真實驗結果證明了方案的有效性。
[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.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U48
本文編號：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.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U48
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