【摘要】 通过机构设计、硬件开发、软件策略等方面,搭建两轮直立电动车控制系统,满足了直立车的控制要求。设计以陀螺仪和加速计为传感器的姿态获取模块,利用卡尔曼滤波算法提高控制精度。基于系统结构模型,采用牛顿力学的分析方法构建两轮自平衡直立车动力学方程。设计了模糊PD控制器,以直立车的位移和速度为输入变量进行模糊控制器控制,倾斜角度和角速度由PD控制器控制。最后,建立了直立车实时控制系统平台,用于两轮自平衡直立车的参数调试及实时控制。实验结果表明,该系统具有较好的稳定性,实时响应性高,具有较高的市场推广价值。更多还原

【Abstract】 A Two-wheeled Self-balancing electric vehicle control system is developed based on the system design, hardware development and software strategies. The system meets the control requirements of electric vehicle. The paper designs the posture acquisition module by using gyroscopes and accelerometers as sensors, and improves the control accuracy using Calman filtering algorithm. Based on the system structure model, construction of two-wheeled self-balancing electric vehicle dynamic equations is developed by using the analysis method of Newtonian mechanics. A fuzzy PD controller was designed, the displacement and velocity are taken as the input variables which are controlled by fuzzy controller, and the tilt angle and angular velocity are controlled by PD controller. Finally, the platform of real-time control system is established for parameteradjustment and real-time control. Experiments show that the system has good stability, high real-time response and has higher market value.更多还原