獨輪自平衡畫設(shè)計方法研究.pdf

1、黑龍江大學(xué)碩士學(xué)位論文獨輪自平衡畫設(shè)計方法研究姓名：路珺申請學(xué)位級別：碩士專業(yè)：控制工程指導(dǎo)教師：沈永良20111020黑龍江大學(xué)碩士學(xué)位論文AbstractSinglewheelselfbalancecarisawheeledmobilerobotofsimplestructure，similartotheinvertedpendulum，formedbyabodyandamotordrivenwheelThebaffleplateo

2、ntheupperhalfofthebodycanrotateinthehorizontaldirectionThroughthebaffle’Srotation，thebody’scenterofgravitycanbechanged，inordertocontrolthedirectionofthemovementComparedvvitllothermeansoftransport，thenumberofcontactpoints

3、betweenthesinglewheel7selfbalancecarandthegroundreachesminimumItisatypicalnonlinearincomplete，staticunbalancesystemIthasmanyadvantagessuchasflexiblemotion，simplestructure，suitableforworkinginnarrowanddangerousspaceandSOo

4、nInthemilitarycivil，teachingareas，ithasacertainapplicationprospectThedissertationsummariesthedomesticandforeignresearchstatusofselfbalanceelectricvehicleandputsforwardthedesignschemeofthesinglewheelselfbalancecarcombinin

5、gthesinglewheeledcar’sdesignexperienceFirstofall，throughthestudyonthebasicmodelofinvertedpendulumsystem，thedissertationestablishesthesinglewheelselfbalanceCar’Smodel，analyzestheinteractionamongitsforce，structureandmoveme

6、ntandprovidestheoreticalbasisofcontrollingAndthenthedissertationanalyzesandcomparesthecontrolsystemofselfbalancecarwhichisdevelopedbydomesticandforeignresearchinstitutionsandenterprises，designsthesinglewheelselfbalanceCa

7、r’ScontrolsystemandthepreliminarylayoutandwiringOnthefoundationofselfbalancingmobilerobotresearch，theresearcherjoinsthegyroscopeandmotordriverSubsequentlyusingKalmanfilteringalgorithmsfusesaccelerometerandgyroscopedatain

8、formation，improvesthecalculationspeedandprecisionofCarbodytiltingangleMeanwhile，usingClanguagedesignsphotoelectricencodercountermodule，whichprovidesspeedinformationforthesystemAlso，theresearcherdesignsadigitaldoubleloopP