文献类型：期刊文献

中文题名：两轮平衡车的建模与控制研究

英文题名：Study on Modeling and Control of Two-wheeled Auto-balancing Vehicle

作者：薛凡[1];孙京诰[1];严怀成[1]

机构：[1]华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200237

年份：2012

卷号：39

期号：11

起止页码：1450

中文期刊名：化工自动化及仪表

外文期刊名：Control and Instruments in Chemical Industry

收录：Scopus

基金：国家自然科学基金资助项目(61004028;61272064);中央高校基本科研业务费资助项目(WH1014013);上海市教育委员会科研创新项目(12zz052)

语种：中文

中文关键词：平衡车;力学平衡;极点配置;开环;闭环;反馈增益;仿真

外文关键词：balance vehicle;;mechanical equilibrium;;pole assignment;;open loop;;closed loop;;feedback gain;;simulation

摘要：从两轮平衡车的物理结构出发,分析车体在平衡瞬间的力学平衡,得到平衡方程式,由此计算并建立对应的数学模型。仿真结果表明:从开环系统构建闭环系统,并选择适当的反馈增益,控制系统的角度、角速度、位移和速度都能趋近稳定,从而验证了系统的可控性。
Basing on physical structure of the two-wheeled vehicle,the mechanical equilibrium of the vehicle at transient equilibrium was analyzed to obtain the balance equation so as to benefit calculation and to establish mathematical model.Simulation with MATLAB and SIMULINK tool box shows that to construct closed loop system based on open system and meanwhile to select a suitable feedback gain can make system' s angle,angular velocity,displacement and speed tend to be stable and the controllability of the system can be verified.