| 自平衡电动车控制系统建模与低成本传感器应用仿真 |
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| 引用本文： | 田珊珊,杨志刚,贾伟. 自平衡电动车控制系统建模与低成本传感器应用仿真[J]. 重庆科技学院学报(自然科学版), 2012, 14(5): 158-161 |
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| 作者姓名： | 田珊珊 杨志刚 贾伟 |
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| 作者单位： | 重庆交通大学,重庆,400074 |
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| 基金项目： | 国家自然科学基金项目(51008321) |
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| 摘 要： | 应用动力学原理和拉格朗日方程对自平衡电动车建立系统的动力学数学模型.在Matlab/Simulink环境下,采用PID控制器与自平衡电动车动力学模型构成闭环控制系统,对控制信号加入低成本传感器造成的系统误差进行数字仿真,仿真结果表明了所建模型和PID控制方法的可行性.
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| 关 键 词： | 自平衡技术 动力学分析 PID控制 误差分析 |
Control System Model of Self-balancing Electric Vehicle and Low-cost Sensor Application Simulation |
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| TIAN Shanshan , YANG Zhigang , JIA Wei. Control System Model of Self-balancing Electric Vehicle and Low-cost Sensor Application Simulation[J]. Journal of Chongqing University of Science and Technology:Natural Science Edition, 2012, 14(5): 158-161 |
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| Authors: | TIAN Shanshan YANG Zhigang JIA Wei |
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| Affiliation: | (Chongqing Jiaotong University,Chongqing 400074) |
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| Abstract: | By using dynamics mechanics theory and the equation of Lagrange,the Self-balancing Electric Vehicle,and establishment of the dynamics mathematical model of the system is made.In Matlab/Simulink,the PID controller and the dynamics model are composite of closed loop control system.It is simulated the control signal which is add the system error of low cost sensor in digital.In the end,the simulation result proves the responsibility of the model and the control of PID.Through the experiments verified that the rationality of the system modeling and the designed fuzzy controller. |
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| Keywords: | the technology of self-balancing dynamics analysis PID control error analysis |
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