二轮平衡车控制系统的研究.pdf

A Dissertation Submitted in Partial Fulfillment of the Requirementsforthe Degree ofMasterin EngineeringResearch on Control System ofTwo-wheeled Self-balancing VehicleMaster Candidate:MengTengMajor:Control Theory and Control EngineeringSupervisor: ZhengWuhanUniversity of Science and TechnologyWuhan, Hubei 430081, 23,2014万方数据万方数据I摘要二轮自平衡小车以清洁的电能作为动力,并且具有体型小,转弯灵活等特点,为解决汽车尾气污染、交通拥堵等问题提供了解决方案,符合当代社会的发展要求。二轮自平衡小车系统具有非线性、欠驱动、强耦合不稳定等特点,是研究控制策略的理想实验平台,国内外众多学者都进行了相关研究。因此,对二轮自平衡小车的运动控制问题展开研究具有重要的理论研究价值和实际意义。本文首先应用牛顿经典力学的方法建立了二轮自平衡小车的数学模型,通过仿真验证了数学模型的正确性,同时在平衡点附近对数学模型进行了线性化近似处理。为了加深对系统的认识,对系统的能控性、能观性和离散化后的能控能观性进行了分析。设计了基于线性二次型最优控制的状态反馈控制器,通过仿真实验证明其实现了系统的平衡及速度控制。基于前期的理论研究工作,本文设计了二轮自平衡小车的硬件系统和软件系统。硬件系统的设计主要包括设计核心控制板、供电模块、姿态倾角检测模块、执行机构和一些外围器件电路。软件系统的设计主要包括设计基于核心控制芯片的MC9S12XS128的二轮自平衡小车本体程序和基于NRF24L01的无线数据收发程序。最后,进行了实物实验,实验结果表明本文所设计的二轮自平衡小车能很好地实现自平衡并且能稳定运行。关键词:二轮自平衡小车;牛顿经典力学;系统建模;线性二次型最优控制;MC9S12XS128单片机万方数据IIAbstractTwo-wheeled self-balancing vehicleuses clean electricity as power. It has the characteristic of small size and turning flexible. As a kind of solution for the problem of automobile exhaustion pollution and traffic jams, it matches the development of modern social. With the characteristicof nonlinearity, under-actuation, strong coupling and instability, it is an ideal experimental platform which is used to study control strategy. So the research on the motion control oftwo-wheeled self-balancing vehiclehas important theoretical research value and practical ’s theory of classical mechanicsis used to establish the accurate mathematical model of two-wheeled self-balancing vehiclein this paper, through simulation resultsthe correctness of the mathematical modelis vertified, meanwhile, the accuratemathematical model near the equilibrium point of the systemis linearized. In order to deepen the understanding of the system, the controllabilityand observabilityboth before and after discretization is analyzed. A state feedback controller