中国科技论文
中國科技論文
중국과기논문
Sciencepaper Online
2014年
7期
852-856
,共5页
自平衡独轮电动车%平衡控制%动力学建模%比例微分控制
自平衡獨輪電動車%平衡控製%動力學建模%比例微分控製
자평형독륜전동차%평형공제%동역학건모%비례미분공제
self-balancing electric unicycle%balancing motion control%dynamic modeling%roportional-differential control
为了设计新型、环保、便捷的智能代步工具，搭建了一款独轮自平衡电动车物理系统。利用拉格朗日方法建立了人车一体的动力学模型，并对系统进行了特性分析。设计了独轮车系统的比例微分（proportional-differential，PD）平衡控制器，并对独轮车系统分别进行了自平衡、冲击干扰和阶跃干扰实验。实验结果表明，独轮自平衡电动车系统具有较好的鲁棒性和操控性，证明设计方案的合理性和有效性。
為瞭設計新型、環保、便捷的智能代步工具，搭建瞭一款獨輪自平衡電動車物理繫統。利用拉格朗日方法建立瞭人車一體的動力學模型，併對繫統進行瞭特性分析。設計瞭獨輪車繫統的比例微分（proportional-differential，PD）平衡控製器，併對獨輪車繫統分彆進行瞭自平衡、遲擊榦擾和階躍榦擾實驗。實驗結果錶明，獨輪自平衡電動車繫統具有較好的魯棒性和操控性，證明設計方案的閤理性和有效性。
위료설계신형、배보、편첩적지능대보공구，탑건료일관독륜자평형전동차물리계통。이용랍격랑일방법건립료인차일체적동역학모형，병대계통진행료특성분석。설계료독륜차계통적비례미분（proportional-differential，PD）평형공제기，병대독륜차계통분별진행료자평형、충격간우화계약간우실험。실험결과표명，독륜자평형전동차계통구유교호적로봉성화조공성，증명설계방안적합이성화유효성。
A self-balancing electric unicycle platform is designed and established,which is a new-style,environment-friendly and convenient transport.A driver-vehicle integrated dynamic model is built to analyze its features,based on Lagrange method.A proportional-differential balancing control loop of unicycle system is designed,then some physical experiments including self-bal-ancing,impulse interference and step perturbation are also been done.In the experiments,proposed self-balance electric unicycle system presents good performance on robustness and controllability,and the validity of our design is also demonstrated.
