文档介绍：哈尔滨工业大学工学硕士学位论文
摘要
随着汽车工业的高速发展,人均汽车持有量的不断提高,现有的能源、交
通和环境状况将难以继续支持。在这样的背景下,自平衡式两轮电动车概念应
运而生。它是一种清洁、小型的城际电动辅助交通工具,能够很好的解决传统
汽车所带来的诸多问题。
自平衡式两轮电动车是一个非线性、强耦合、欠驱动的自不稳定系统,对
其控制策略的研究具有重大的理论意义。
首先,基于分析力学和牛顿力学相结合的方式对系统进行了动力学方程推
导,得到了系统的刚性模型和柔性模型,并在 MATLAB 环境下进行了模型的
验证实验。
针对所建模型,进行能控性、能观型、转弯惯性力、最大上下坡角度、最
大可控角等系统特性的分析,得出了相关结论及设计参考公式。在车身倾角和
车轮转速控制器设计方面,基于传统双闭环 PID 控制器的实验经验,得出了
控制效果更好的双闭环模糊控制器,并通过仿真实验验证了其有效性和鲁棒
性。针对直线运行时两车轮转速差的问题,提出了一种切换式动态补偿方法,
得到了较好的矫正效果。
进行自平衡式两轮电动车实物装置的设计和制造,包括基于 MEMS 的倾
角传感器机构、系统的执行机构、控制器机构、电源供给机构和人机交互机构
等五个部分。并针对该装置,确定了系统的软件结构。
最后,将控制算法转换为程序代码,写入控制芯片并进行实物实验,结果
证明控制算法在实物装置中同样有效。

关键词:欠驱动;自平衡式两轮电动车;系统建模;模糊控制;MEMS
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哈尔滨工业大学工学硕士学位论文
Abstract
With the rapid development of autoindustrie, the quantity of automobile per
capita raises steadily. The existing conditions of energy, transportation and
environment couldn’t continue to support. Under this background, the concept of
TWSBEV (two-wheeled self balancing electrical vehicle) emerged. It is a kind of
clean and small urban electrical auxiliary vehicle, which can solve the problem
caused by traditional automobile.
Since the TWSBEV is a nonlinear, strong coupling, underactuated and unstable
system, the relevant results on the control strategy of which could apply to other
similar systems, it is of great theoretical significance.
Firstly, based on bination of analytic mechanics and classical
mechanics, the rigid model and flexible model of the system are built. Then the
correctness of the models are validated in MATLAB.
Then according to the established model, the controllability and observability,
the turning inertia force, the maximum slope angle and controlled angle are
discussed, the relevant conclusions and the design formula are reached. To the
controller design of body angle and the wheel speed, the fuzzy double loop
controller with better control effect is built based on the experiment results of
traditional double loop PID con