【作者】 霍亮；

【导师】 毛奔；

【作者基本信息】 哈尔滨工程大学 ， 精密仪器及机械， 2010， 硕士

【摘要】 两轮自平衡电动车是一种新型的交通工具,它一改电动自行车和摩托车车轮前后排列方式,而是采用两轮并排固定的方式,这种结构将给人们带来一种全新的驾驭感受。两轮自平衡电动车仅靠两个轮子支撑车体,采用蓄电池提供动力,由两个直流无刷电动机驱动,采用多处理器、姿态感知系统、控制算法及车体机械装置共同协调控制车体的平衡,仅靠人体重心的改变便可以实现车辆的启动、加速、减速、停止等动作。本文对国内外的两轮自平衡电动车的研究现状加以总结,并提出两轮自平衡电动车的设计过程中所涉及到的关键技术问题。本文以两轮自平衡电动车为研究对象,对其设计方法进行了详细地介绍。针对传统的立式两轮自平衡电动车在安全性及舒适性方面的不足,设计出了一种新式的机械结构,使得两轮自平衡电动车更具安全性,并且缓解了由于长时间驾驶给驾驶者带来的疲劳感。两轮自平衡电动车采用多处理器协同工作的硬件模式,通过对其硬件系统进行设计与调试,满足了电动车系统的控制要求。为了确定电动车运动姿态,设计了以硅微陀螺仪和加速计为传感器的姿态感知系统,并针对其传感器的误差模型,提出了利用卡尔曼滤波(Kalman filter)对电动车车体姿态进行最优估计的方法,此种方法可提高两轮自平衡电动车的控制精度。两轮自平衡电动车的所有运动方式都以平衡控制为前提,因此,平衡控制是两轮自平衡电动车运动中的关键。本文利用拉格朗日方程建立了两轮自平衡电动车的动力学模型,并在此基础上设计了基于线性二次型最优调节器(LQR)的自平衡控制器,以此实现电动车的平衡控制。针对两轮自平衡电动车的控制系统响应快、任务多等特点,设计出了基于μC/OS-II操作系统的控制系统软件,使得系统的实时性得到了很大程度地提高。更多还原

【Abstract】 Two-wheeled self-balancing electric vehicle is a new type of transport, and it is not like an electric bicycle and motorcycle whose wheels fixed in the front and rear, instead of using the way fixed side by side, so this structure will bring a new driving feelings. It depends on two parallel wheels to support the bodywork. The battery provides power, and two brushless DC motors drive the vehicle moving. The multi-processor, attitude sensing system, control algorithm and machine of the bodywork cooperate to control the system’s balance. The drivers can operate the vehicle by changing their center of gravity to achieve the vehicle start, acceleration, deceleration, stop and other activities.In this dissertation, home and abroad, the current developing status of two-wheeled self-balancing electric vehicle has been summarized and proposed the key technical issues which two-wheeled self-balancing electric vehicle involved in the design process. In this dissertation, two-wheeled self-balancing electric vehicle as the research object, its design method has been introduced in detail.The traditional vertical two-wheeled self-balancing electric vehicles have some safety and comfort deficiencies, so a new type of mechanical structure which will make the vehicles more secure and reduce the drivers’fatigue after their long-term driving has been designed. Two-wheeled self-balancing electric vehicle works with multi-processor hardware model, through design and debugging, it has been met the control requirements. In order to determine the electric vehicle’s motion attitude, with silicon micro-gyroscopes and accelerometers, attitude sensing sensor system has been designed. According to the sensor error model, this dissertation put forward a method of Kalman filter optimal estimation of the electric vehicle body posture, which could improve the vehicle’s control precision. Two-wheeled self-balancing electric vehicle means that all movements are to balance control as a precondition. Balance control is the key of its movement. This paper has established the dynamics model of two-wheeled self-balancing electric vehicle with the Lagrange equations, and on this basis self-balancing controller is designed based on linear quadratic optimal regulator (LQR), in order to achieve balance control of the vehicle. For quick response and multi-task characteristics of the control system, control system software has been designed based onμC/OS-II operating system, which make the real-time system greatly enhanced.更多还原