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近年来,智能车一步步开始成为科技研究的前沿产物,现在市面上已经开始售卖一些所谓的“火星车”等一系列的代步工具,这类型的智能车都普遍采用的是直立自平衡的设计,而直立自平衡智能车中所包含的平衡控制问题是一个很典型的自动控制问题,而对于直立自平衡智能车来说,其物理模型与自动控制中的经典模型——倒立摆相似,故可以将其简化为一个倒立摆,进行分析,并实现控制。本文通过将智能车简化为倒立摆模型,对智能车的直立平衡进行了分析,得出了智能车实现自平衡的控制原理,并在此基础上对智能车的其他相关的控制原理也有了认识。
In recent years, smart cars step by step to become the forefront of scientific and technological research products, and now the market has begun to sell some so-called “rover” and a series of means of transport, this type of smart car are generally used in erecting self-balancing , While the balance control problem contained in the EHW smart car is a typical automatic control problem, whereas for an upright self-balancing smart car, its physical model is similar to the classic model in automatic control, that is, an inverted pendulum , It can be simplified as an inverted pendulum, analyzed and controlled. In this paper, the smart car is simplified into an inverted pendulum model, the vertical balance of the smart car is analyzed, and the control principle of the self-balancing of the smart car is obtained. On this basis, other related control principles of the smart car are also recognized .