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自平衡两轮电动车是一种全新模式的交通工具,其动力学系统具有强耦合、参数不确定性、非线性、多变量等特性,其运动环境复杂,属于非完整性系统。本文具体完成以下几个方面:利用陀螺仪和加速度传感器配合微处理器组建硬件系统;采用PID控制方法完成各种情况下的平衡设计;借助MATLAB建立模型;仿真验证控制方法的正确性。
The self-balancing two-wheeled electric vehicle is a new mode of transportation. Its dynamic system has the characteristics of strong coupling, parameter uncertainty, nonlinearity and multivariate. Its motion environment is complex and belongs to the non-integrity system. In this paper, the following specific aspects of the completion of: The use of gyroscope and accelerometer sensor with the microprocessor to build a hardware system; using PID control method to complete the balance of the design of various situations; using MATLAB to establish a model; simulation to verify the correctness of the control method.