两轮自平衡电动车论文：两轮电动车自平衡操纵算法的研究[精品]

两轮自平衡电动车论文：两轮电动车自平衡操纵算法的研究[精品] 两轮自平衡电动车论文:两轮电动车自平衡控制算法的研究 【中文摘要】两轮自平衡电动车是一种新型的交通工具,它与电动自行车和摩托车车轮前后排列方式不同,而是采用两轮并排固定的方式,就像一种两轮平行的机器人一样。该系统是一种两轮左右平行布置的,像传统的倒立摆一样,本身是一个自然不稳定体,必须施加强有力的控制手段才能使之稳定。其体积小、结构简单、运动灵活,适于在狭小和危险的空间内工作,在民用和军事上有着广泛的应用前景。本课题旨在研制一种两轮电动车自平衡控制系统,其工作原理是系统以姿态传感器(陀螺仪、加速度计)来监测车身所处的俯仰状态和状态变化率,通过高速微控制器计算出适当数据和指令后,驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。本文在总结和归纳国内外两轮自平衡小车的研究现状后,选用AtmeDgal16微控制器、德国冯哈勃Faulhaber带编码器空心杯减速电机2342L012、MMA226D加速度计传感器和EWTS82陀螺仪、驱动车轮、设计制作主板和电机驱动板,组装两轮自平衡电动车模型;通过C语言编写自平衡控制程序,烧录程序,实车验证所选用的控制算法可行性。在研究过程中,本文首先通过建立动力学模型,运用拉格朗日方程来验证系统中三个自由度可否能控,并且求出控制算法中的四个K值,基于陀螺仪存在漂移的问题及加速度计的动态响应慢,对于系统的姿态检测而言,单独使用陀螺仪或者加速度计,都不能提供有效和可靠的信息来反映车体的实时状态。本文对传感器两者所采集的数据进行了卡尔曼 滤波优化处理,补偿陀螺仪的漂移误差和加速度计的动态误差,得到 一个更优的倾角近似值。基于在过程控制中,PID控制器一直是应用 最为广泛的一种自动控制器,PID控制也一直是众多控制方法中应用 最为普遍的控制算法,它解决了自动控制理论所要解决的最基本问题, 既系统的稳定性、快速性和准确性,调节PID的参数,可实现在系统稳 定的前提下,兼顾系统的带载能力和抗扰能力,同时在PID调节器中 引入积分项,系统增加了一个零积点,使之成为一阶或一阶以上的系 统,这样系统阶跃响应的稳态误差就为零。因此本文采用PID算法运 用卡尔曼滤波得出的更优倾角近似值,求出驱动电机的占空比PWM,来 实现两轮自平衡电动车姿态的平衡控制,采用卡尔曼滤波来优化车体 姿态,提高两轮自平衡电动车的控制精度。 【英文摘要】 Two-wheeled,,,,,electric,,,,,vehicle,,,,,is,,,,,a,,,,,new,,,,,kind,,,,,of,,,,,traffic,,,,,tool,,,,,,it,,,,,with,,,,,the,,,,,electric,,,,,bicycle,,,,,and,,,,,motorcycle,,,,,wheels,,,,,and,,,,,arranged,,,,,in,,,,,different,,,,,ways,,,,,,but,,,,,with,,,,,two,,,,,side-by-side,,,,,fixed,,,,,way,,,,,,like,,,,,a,,,,,kind,,,,,of,,,,,two,,,,,parallel,,,,,robot.,,,,,The,,,,,system,,,,,is,,,,,a,,,,,kind,,,,,of,,,,,two,,,,,parallel,,,,,arrangement,,,,,,like,,,,,a,,,,,traditional,,,,,inverted,,,,,pendulum,,,,,,itself,,,,,is,,,,,a,,,,,natural,,,,,unstable,,,,,body,,,,,,must,,,,,exert,,,,,a,,,,,pow erful,,,,,means,,,,,of,,,,,control,,,,,to,,,,,stability.,,,,,Its,,,,,small,,,,,size,,,,,,simple,,,,,structure,,,,,,flexible,,,,,movement,,,,,,suitable,,,,,for,,,,,small,,,,,space,,,,,and,,,,,dangerous,,,,,work,,,,,,in,,,,,the,,,,,civil,,,,,and,,,,,military,,,,,has,,,,,a,,,,,wide,,,,,application,,,,,prospect.,,,,,This,,,,,paper,,,,,aims,,,,,at,,,,,the,,,,,development,,,,,of,,,,,a,,,,,two-wheel,,,,,vehicle,,,,,self,,,,,balance,,,,,control,,,,,system,,,,,,its,,,,,working,,,,,principle,,,,,is,,,,,to,,,,,attitude,,,,,sensor,,,,,(,,,,,gyroscope,,,,,,accelerometer,,,,,),,,,,to,,,,,monitor,,,,,the,,,,,body,,,,,at,,,,,a,,,,,pitch,,,,,state,,,,,and,,,,,state,,,,,change,,,,,rate,,,,,,through,,,,,high,,,,,speed,,,,,microcontroller,,,,,calculates,,,,,the,,,,,appropriate,,,,,data,,,,,and,,,,,instructions,,,,,,the,,,,,drive,,,,,motor,,,,,to,,,,,generate,,,,,forward,,,,,or,,,,,backward,,,,,acceleration,,,,,to,,,,,the,,,,,body,,,,,front,,,,,and,,,,,rear,,,,,balance,,,,,effect.In,,,,,this,,,,,paper,,,,,,summarizing,,,,,the,,,,,domestic,,,,,and,,,,,foreign,,,,,two-wheel,,,,,self-balanced,,,,,vehicle,,,,,research,,,,,the,,,,,status,,,,,quo,,,,,,using,,,,,Atmegal16,,,,,microcontroller,,,,,,von,,,,,Harbert,,,,,Faulhaber,,,,,encoder,,,,,hollow,,,,,cup,,,,,reducer,,,,,2342L012,,,,,,MMA226D,,,,,acceler ometer,,,,,sensor,,,,,and,,,,,EWTS82,,,,,gyroscope,,,,,,drive,,,,,wheels,,,,,,designed,,,,,the,,,,,board,,,,,and,,,,,motor,,,,,drive,,,,,plate,,,,,assembly,,,,,,two-wheeled,,,,,electric,,,,,models;,,,,,through,,,,,the,,,,,C,,,,,language,,,,,since,,,,,balance,,,,,control,,,,,program,,,,,,recording,,,,,program,,,,,,real,,,,,vehicle,,,,,test,,,,,the,,,,,feasibility,,,,,of,,,,,control,,,,,algorithms.In,,,,,the,,,,,course,,,,,of,,,,,the,,,,,study,,,,,,this,,,,,paper,,,,,set,,,,,up,,,,,the,,,,,dynamics,,,,,model,,,,,,using,,,,,the,,,,,Lagrange,,,,,equation,,,,,to,,,,,verify,,,,,the,,,,,system,,,,,in,,,,,three,,,,,degrees,,,,,of,,,,,freedom,,,,,can,,,,,control,,,,,,and,,,,,a,,,,,control,,,,,algorithm,,,,,of,,,,,four,,,,,K,,,,,values,,,,,,based,,,,,on,,,,,gyro,,,,,drift,,,,,and,,,,,accelerometer,,,,,the,,,,,problem,,,,,of,,,,,slow,,,,,dynamic,,,,,response,,,,,,the,,,,,system,,,,,of,,,,,attitude,,,,,detection,,,,,,used,,,,,alone,,,,,or,,,,,gyroscope,,,,,accelerometer,,,,,,are,,,,,unable,,,,,to,,,,,provide,,,,,valid,,,,,and,,,,,reliable,,,,,information,,,,,to,,,,,reflect,,,,,the,,,,,real,,,,,state,,,,,of,,,,,vehicle.,,,,,Based,,,,,on,,,,,the,,,,,sensor,,,,,data,,,,,collected,,,,,in,,,,,the,,,,,Calman,,,,,filter,,,,,optimization,,,,,processing,,,,,,compensation,,,,,of,,,,,the,,,,,gyro,,,, ,drift,,,,,error,,,,,and,,,,,dynamic,,,,,error,,,,,of,,,,,accelerometer,,,,,,to,,,,,get,,,,,a,,,,,better,,,,,angle,,,,,approximation.,,,,,Based,,,,,on,,,,,the,,,,,process,,,,,control,,,,,,PID,,,,,controller,,,,,has,,,,,been,,,,,one,,,,,of,,,,,the,,,,,most,,,,,widely,,,,,used,,,,,automatic,,,,,controller,,,,,,PID,,,,,control,,,,,has,,,,,also,,,,,been,,,,,numerous,,,,,control,,,,,method,,,,,is,,,,,the,,,,,most,,,,,common,,,,,application,,,,,of,,,,,the,,,,,control,,,,,algorithm,,,,,,which,,,,,solves,,,,,the,,,,,problem,,,,,of,,,,,the,,,,,automatic,,,,,control,,,,,theory,,,,,to,,,,,solve,,,,,the,,,,,basic,,,,,problem,,,,,,not,,,,,only,,,,,the,,,,,stability,,,,,of,,,,,the,,,,,system,,,,,,the,,,,,rapidity,,,,,and,,,,,accuracy,,,,,,regulation,,,,,of,,,,,PID,,,,,parameters,,,,,can,,,,,be,,,,,realized,,,,,,the,,,,,stability,,,,,of,,,,,system,,,,,,balance,,,,,the,,,,,system,,,,,load,,,,,and,,,,,anti-interference,,,,,ability,,,,,,at,,,,,the,,,,,same,,,,,time,,,,,in,,,,,the,,,,,PID,,,,,regulator,,,,,into,,,,,integration,,,,,,system,,,,,adds,,,,,a,,,,,zero,,,,,point,,,,,,makes,,,,,the,,,,,order,,,,,or,,,,,first,,,,,order,,,,,above,,,,,the,,,,,system,,,,,,so,,,,,the,,,,,system,,,,,step,,,,,response,,,,,of,,,,,the,,,,,steady-state,,,,,error,,,,,is,,,,,zero.,,,,,This,,,,,paper,,,,,uses,,,,,the ,,,,,PID,,,,,algorithm,,,,,based,,,,,on,,,,,Calman,,,,,filter,,,,,was,,,,,better,,,,,angle,,,,,approximation,,,,,,and,,,,,a,,,,,drive,,,,,motor,,,,,of,,,,,the,,,,,duty,,,,,ratio,,,,,PWM,,,,,,to,,,,,achieve,,,,,two-wheel,,,,,self-balanced,,,,,vehicle,,,,,attitude,,,,,balance,,,,,control,,,,,,Calman,,,,,filter,,,,,is,,,,,adopted,,,,,to,,,,,optimize,,,,,the,,,,,body,,,,,posture,,,,,,improve,,,,,the,,,,,control,,,,,precision,,,,,of,,,,,the,,,,,self-balanced,,,,,two-wheel,,,,,electric,,,,,vehicle. 【关键词】两轮自平衡电动车,,,,,PID,,,,,卡尔曼滤波,,,,, 陀螺仪 【英文关键词】 two-wheeled,,,,,electric,,,,,vehicle,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,PID,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,Calman,,,,,filter,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,accelerometer,,,,,gyroscope 【备注】索购全文在线加我:1.3.9.9.3.8848,,,,, 同时提供论文一对一写作指导和论文发表委托服务