摘要
由于自平衡式两轮电动车有两个驱动车轮,每个车轮独立驱动且共用一个车体,每一个车轮的驱动转矩与速度都会影响小车的运动性能;因此,自平衡式两轮电动车系统运行存在耦合控制问题。为了解决由于此耦合而带来的控制问题,基于车体的机械结构与驱动形式进行建模与模型验证,首先证明了系统耦合特性的存在,然后根据模型特征给出一种解决耦合问题方法。其方法是将自平衡车两个独立而又存在耦合的驱动车轮看作两个具有力矩传输关系的等价系统,为合理的避开控制时带来的耦合问题,可将两个等价系统做合并处理,使其等效为一个不具耦合特征的独立系统,这种转差补偿控制方案成功解决了结构耦合带来的各种问题。仿真实验结果证明了所建立模型与控制方案的有效性。
Since the two wheels of Self-equilibrium Two Wheels Electric Vehicle has two driven wheels, which driven independently and sharing one chassis, the torque and speed of each wheel will affect the vehicle＇s stability, therefore, this Self - equilibrium Two Wheels Electric Vehicle system contains coupling problem when running. In order to solve the coupling problem, in this article we proved the coupling problem of self - equilibrium vehicle exist truly by building mathematical modeling and simulating, at the same time we also give a slip compensation control programs to address the coupling problem basing on the characteristics of model. In this method the two drive wheels were treated as two equivalent systems with torque transmission, and in order to solve the coupling problem we mer- ged the two equivalent systems into one non - coupling independent system. The result of simulating has proved that the mathematical modeling we building is correct and the control strategies is effective.
出处
《控制工程》
CSCD
北大核心
2013年第1期26-29,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(60875066)
关键词
自平衡
两轮电动车
耦合
转差补偿控制
self- equilibrium
two wheels electric vehicle
coupling
slip compensation control
