摘要
叙述了制作的平行双轮电动车的系统构成和数学模型的建立。根据线性系统理论,在Matlab环境下设计了状态反馈控制器,仿真结果表明了该系统的稳定性。通过对样机进行实际行走控制试验,验证了系统建模和控制器设计的合理性和有效性。
The structure and mathematic modeling of developed coaxial two-wheeled electric scooter were described. According to linear system theory, the state-feed back controller was designed based on Matlab, and stability of the system was proven by the simulation results. Finally, validity and rationality of the system modeling and the designed controller were confirmed through performance experiments of the prototype.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第8期683-686,共4页
China Mechanical Engineering
关键词
平行双轮
电动车
数学建模
MATLAB仿真
状态反馈
coaxial two-wheeled
electric scooter
mathematic modeling
Matlab simulation
state-feedback
