车辆工程毕业论文--低重心式两轮车动力学建模与分析.docVIP

XXXX大学本科毕业设计（论文） 低重心式两轮车动力学建模与分析 Dynamic Modeling and Analyzing of a Two-wheeled Vehicle with Lower-gravity 学 院（系）： 专 业： 学 生 姓 名： 学 号： 指 导 教 师： 岳明 评 阅 教 师： 完 成 日 期： 摘 要 随着科学技术的迅速发展，移动机器人得到越来越多的关注。两轮自平衡机器人作为一种典型的轮式移动机器人，具有适应环境能力强移动和转向灵活方便运动效率高能量损耗小在工业、民用、军事以及太空探索等领域具有广泛的应用前景。控制。Dynamic Modeling and Analyzing of a Two–wheeled Vehicle with Low-gravity Abstract With the development of the science and technology, more attention focus on the mobile robot. As a kind of wheeled mobile robot, two-wheeled self-balanced robots have the capability to adapt the complex situations. It can move and shift flexibility. Therefore, two-wheeled self-balanced robot can perform several rounds of the complicated motion which the multi-wheeled robot can not achieve, especially in the changeful environment such as space exploration, topographic reconnaissance and transportation of dangerous goods. So it is suitable for detecting in narrow and dangerous space and has a wide foreground both in civilian and space explore. But two-wheeled self-balanced robot has multi-variable, non-linear and parameter uncertainty characteristics. Therefore, the dynamic equation is quite complex and it is difficult to design a control system .Both of the negative factors limited the development of such robots. Based on summarizations of the present two-wheeled self-balanced robot in view of structure, a new two-wheeled self-balanced robot has been proposed. That is Two-wheeled Vehicle with Low gravity. Two-wheeled Vehicle with Low gravity is characterized by rapid motion, it can both run in omni direction and turn with zero radius. The design of the structure is different from the inverted pendulum. Due to adopt the structure of hanged pendulum, the two wheeled vehicle with low gravity has the nature of stability. In order to address the vibration phenomenon which is generally existed in the two wheeled