【摘要】：近年來,隨著城市建設(shè)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(yán)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(jī)器人的一種,該車體積小巧,結(jié)構(gòu)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(yùn)行,操控性強(qiáng),在民用軍用領(lǐng)域具有廣闊的應(yīng)用前景。同時(shí),盡管國內(nèi)外學(xué)者針對(duì)自平衡兩輪車的數(shù)學(xué)建模、控制算法以及機(jī)械結(jié)構(gòu)設(shè)計(jì)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(jié)構(gòu)控制以及神經(jīng)網(wǎng)絡(luò)控制等控制算法均在自平衡兩輪車實(shí)驗(yàn)平臺(tái)上得到了有效性驗(yàn)證),但是諸如“直行與轉(zhuǎn)彎復(fù)合控制”問題一直未見報(bào)道,而其是整車運(yùn)動(dòng)控制的關(guān)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(xué)模型,并對(duì)其進(jìn)行了MATLAB/Simulink仿真驗(yàn)證。在線性化數(shù)學(xué)模型基礎(chǔ)之上,推導(dǎo)出了直線運(yùn)行與轉(zhuǎn)向運(yùn)行時(shí)的系統(tǒng)動(dòng)態(tài)結(jié)構(gòu)圖。其直線運(yùn)行系統(tǒng)動(dòng)態(tài)結(jié)構(gòu)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(jìn)行設(shè)計(jì)。在數(shù)學(xué)模型基礎(chǔ)上對(duì)自平衡兩輪車系統(tǒng)進(jìn)行了能觀性與能控性分析,設(shè)計(jì)了自平衡兩輪車直線運(yùn)行時(shí)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(duì)內(nèi)外環(huán)控制器的有效性與魯棒性進(jìn)行了驗(yàn)證。本文提出了二種“分別獨(dú)立設(shè)計(jì)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(fù)雜的解耦算法,以實(shí)現(xiàn)系統(tǒng)的有效控制；同時(shí),分析了系統(tǒng)的對(duì)稱耦合特性,根據(jù)轉(zhuǎn)向運(yùn)行系統(tǒng)動(dòng)態(tài)結(jié)構(gòu)圖設(shè)計(jì)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(shí)現(xiàn)自平衡兩輪車的二維平面運(yùn)動(dòng)控制中,基于系統(tǒng)耦合特性設(shè)計(jì)了自平衡兩輪車直行與轉(zhuǎn)向復(fù)合控制系統(tǒng),對(duì)復(fù)合控制器的進(jìn)行了MATLAB/Simulink仿真驗(yàn)證,仿真實(shí)驗(yàn)結(jié)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(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U48

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