从稳定性角度分析电动平衡车.doc

从稳定性角度分析电动平衡车
ANALYZING SEGWAY FROM THE ASPECT OF STABILITY
专业:2012信息与计算科学
姓名:张芮嘉
指导教师:
申请学位级别:学士
论文提交时间:
学位授予单位:天津科技大学
摘要
电动平衡车已经悄然进入了人们的生活,随着人们出行方式的改变,,电动车更加容易操控,,我们需要提高电动车的行驶稳定性以提高电动车的安全性.
电动平衡车的最简模型是一个倒立摆模型,通过对此倒立摆进行约束,我们的模型能够进一步贴合真实的电动平衡车运动,从而达到最优控制.
本文中第一部分介绍了倒立摆的知识,阐述了电动平衡车是一个简单的倒立摆模型,介绍了倒立摆的研究历史,.
第二部分我们先将人-平衡车系统简化成为一个一级倒立摆,即小车--倒立摆系统进行受力分析,,并求其方程,,使系统函数转变为哈密顿函数,求其对应的哈密顿方程,,并对其进行稳定性分析,,使系统稳定.
第三部分我们对真实的人-平衡车系统的参数进行了测量,并将参数值带入前文中得出的系统方程及控制方程,得到只与角度及位移有关的方程.
第四部分对这组参数值下的方程进行Matlab拟合,用两种方式进行拟合,一种为simulink方法直接拟合,.
关键词:牛顿力学; 拉格朗日方程; 哈密顿方程; 勒让德变换; 线性化;Matlab拟合
ABSTRACT
Segway has quietly entered people's lives, with the change of the way people travel, Segway is ing more and more popular. pared with the traditional gasoline engine vehicles, electric vehicles is more easy to control, more independent controllable power. So, we need to improve the driving stability of the electric car in order to improve the safety of the electric car.
Balance electric car the simplest model is an inverted pendulum model, through the invertedpendulum is constraint, our model can further joint real balance electric car movement, so as to achieve optimal control.
The first part of this article introduces the knowledge of the inverted pendulum, this paper expounds the electric balance inverted pendulum model of car is a simple, introduces the research history of inverted pendulum, and the research results of the present stage inverted pendulum and method are summarized. The first part also elaborates the significance to control the inverted pendulum system.
The second part of our people - first balanced car inverted pendulum system is simplified into a level, namely the car inverted pendulum system. Stress analysis was carried out on the ca