發(fā)布時(shí)間：2018-06-10 16:13

  本文選題：自平衡系統(tǒng) + 運(yùn)動(dòng)控制�。� 參考：《廣西師范大學(xué)》2017年碩士論文

【摘要】：載人自平衡車是一種由電力驅(qū)動(dòng),具有自動(dòng)平衡能力的新型綠色交通工具。它突破傳統(tǒng)車的概念,將靜態(tài)穩(wěn)定的車體改進(jìn)為靜態(tài)非平衡性的車體,具有自動(dòng)平衡、輕便易攜、節(jié)能減排、適用場(chǎng)景廣等優(yōu)良特點(diǎn),有望成為下一代個(gè)人短途交通代步工具的主力軍。近年來(lái)隨著平衡車市場(chǎng)的不斷發(fā)展,平衡車的設(shè)計(jì)研究也在不斷的深化拓展。如何提高平衡車系統(tǒng)的載人安全性,如何拓寬平衡車的適用場(chǎng)景,如何優(yōu)化其運(yùn)動(dòng)控制使平衡車在復(fù)雜的環(huán)境中更加靈活圓滿的完成多項(xiàng)任務(wù),是目前平衡車研究領(lǐng)域的主要問(wèn)題。本論文是在深入調(diào)查自平衡車市場(chǎng)的基礎(chǔ)上,基于自平衡車基本框架設(shè)計(jì)的一款雙輪載人自平衡智能車,并針對(duì)運(yùn)動(dòng)控制進(jìn)行了改良優(yōu)化。它不僅實(shí)現(xiàn)了將傳統(tǒng)觀念中靜態(tài)穩(wěn)定的車體結(jié)構(gòu)改進(jìn)為靜態(tài)非平衡性結(jié)構(gòu),同時(shí)也是集環(huán)境采集與檢測(cè)、動(dòng)態(tài)規(guī)劃與決策、行為狀態(tài)控制與執(zhí)行的一套完整的系統(tǒng)。并且相對(duì)于其他自平衡車,本文設(shè)計(jì)的作品在減小成本的基礎(chǔ)上還增加了智能語(yǔ)音反饋安全系統(tǒng),具有更高的安全性、在后續(xù)的科研中具有更強(qiáng)的拓展性。本論文主要是利用自動(dòng)控制理論與技術(shù)、動(dòng)力學(xué)理論、力學(xué)、電子技術(shù)、軟件技術(shù)等專業(yè)知識(shí),對(duì)載人自平衡車系統(tǒng)進(jìn)行研究分析和設(shè)計(jì)制作。主要工作如下:1、設(shè)計(jì)了一款合理的自平衡車研究的平臺(tái),根據(jù)設(shè)計(jì)的總體框架設(shè)計(jì)各個(gè)硬件模塊電路,包括電源電路、電機(jī)驅(qū)動(dòng)電路、速度反饋模塊電路、電流電壓檢測(cè)電路等;2、在已有平臺(tái)和改進(jìn)電路的情況下,設(shè)計(jì)了一套軟件控制方案,并完成相應(yīng)軟件部分的設(shè)計(jì);3、針對(duì)系統(tǒng)運(yùn)動(dòng)控制方面進(jìn)行改良優(yōu)化,包括設(shè)計(jì)出直立環(huán)PD,增加速度反饋對(duì)PI控制器的優(yōu)化,以及對(duì)轉(zhuǎn)向PD進(jìn)行改良設(shè)計(jì)等;4、創(chuàng)新性的增加智能語(yǔ)音安全反饋系統(tǒng)以增加平衡車的實(shí)用性與安全性;5、完成優(yōu)化后車體的制作搭建,以及進(jìn)行了系統(tǒng)自平衡性測(cè)試、載人測(cè)試等性能測(cè)試。綜上,本論文提出了一套切實(shí)可行的自平衡車研究方案,完成了雙輪載人自平衡車的制作。
[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.
【學(xué)位授予單位】：廣西師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U48;TP273

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本文編號(hào)：2003818