基于模糊控制的双轮自平衡小车的分析-analysis of double-wheel self-balancing car based on fuzzy control.docxVIP

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基于模糊控制的双轮自平衡小车的分析-analysis of double-wheel self-balancing car based on fuzzy control.docx

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基于模糊控制的双轮自平衡小车的分析-analysis of double-wheel self-balancing car based on fuzzy control

太原理工大学硕士研究生学位论文RESEARCH OF TWO-WHEELED SELF-BALANCED VEmCLE BASED ON FUZZY CONTROLABSTRACTIn this pape巳 two-wheeled self二balanced vehicle is arranged by two paralleled wheels and it is a kind of unstable nature wheeled mobile robot.It h出 the same characteristics with the traditional inverted pendulum ，which are non-linear ，multi-variable ，strong coupling and parameters of uncertain可. So it is necessary to need the effective means to keep its own balance ，wh ich make it to be an ideal platform to veri命 various kinds of control 由eory. Because of its simple mechanism structure，strong ability to adapt to changing ter丁ain，f1exible movement，it has wide applications in many 町eas.The main research contents of this paper are the following aspects:First of all，a two-wheeled self-balanced vehicle system is built，which mainly consists of mechanical and electrical system，software program. Mechanical and electrical system mainly includes the control system based onMSP430F149 microcontroller ，the posture detection system comprised accelerometer and gyroscope ，the brushless DC motor drive system. The so白ware part is compiled with langue C in the IAR software platform ，which mainly realizes the processing of the collected posture signal，the controlling of fuzzy algorithm and the driving of motor，etc.Then ，according to the simplified model of two-wheeled self-balancedIII7、太原理工大学硕寸?研究生学校论文vehicle，we establish dynamics and kinematics mathematic model. Among establishing dynamics model，we analyses it by means of Newton mechanics equations and Lagranges equation ，and finally acq山res the consistent dynamics model ，so it ensures the COITectness of the result.Then coπesponding sta怡-space equation is obtained through its linearization near the balance，which serves asthe basis ofresearch ofvehicles control strategy and algorithm.Finally，a fuz勾r controller is designed by adopting the 出e。可of fuzzy control for two-wheeled self-balanced vehicle . With ADAMS and MATLAB， we create a