摘要
为优化全自主双轮平衡车的控制策略,首先对双轮平衡车进行整体受力分析,在此基础上利用牛顿法进行平衡车系统的动力学建模,并根据其数学模型得到状态空间方程;然后给定平衡车的物理参数,根据标准状态空间方程建立线性二次型调节器(LQR)对平衡车施加控制。仿真结果表明,线性二次型调节器在对双轮平衡车的自平衡、速度、位移等控制过程中具有良好的动态稳定性,验证了该控制策略对控制双轮平衡车的可行性,为平衡车的广泛应用提供了良好的理论基础和前提。
In this article,firstly the overall force analysis is carried out on the fully autonomous two-wheeled balancing car,in order to optimize its control strategy.On this basis,the Newton method is used for dynamic modeling of the balancing car system,and the equation of state space is worked out according to its mathematical model.Then,after the physical parameters of the balance car are given,the linear quadratic regulator(LQR) is set up,so as to control the balance car according to the standard equation of state space.The simulation results show that the linear quadratic regulator(LQR) has good dynamic stability in the control process of self-balancing,speed and displacement of the two-wheeled balancing car,which has verified that the control strategy for the two-wheeled balancing car is feasible.This study provides theoretical basis and reference for wide application of the balancing cars.
作者
徐慧
孙宏图
XU Hui;SUN Hong-tu(School of Electrical Engineering,Tianjin Vocation College of Mechanics and Electricity,Tianjin 300350;School of Mechanical and Electrical Engineering,Tianjin Bohai Vocational and Technical College,Tianjin 300409)
出处
《机械设计》
CSCD
北大核心
2022年第7期111-116,共6页
Journal of Machine Design
关键词
双轮平衡车
牛顿法
动力学建模
线性二次型调节器
two-wheeled balancing car
Newton method
dynamic modeling
linear quadratic regulator(LQR)
