基于自适应滑模控制的异轴两轮自平衡车

Different-axis two-wheeled self-balancing vehicles based on adaptive sliding mode controlYE Qing ,TIAN Jie

摘要:

对异轴两轮自平衡车(DATWSBV)进行了研究,将其简化为具有陀螺效应的倒立摆系统(IPS),采用拉格朗日方程建立非线性数学模型,并设计了滑模控制器(SMC)和自适应滑模控制器(ASMC)。对无控制、SMC控制以及ASMC控制的三种模型分别进行仿真,结果表明,无控制的异轴两轮自平衡车仅在陀螺仪的作用下无法恢复直立和完成转向；相较于SMC,ASMC能使IPS直行受到干扰时更快地恢复直立,且能达到期望的侧倾角以实现转向。此外,在BikeSim中建立了DATWSBV的实车模型,验证了此Bikesim模型和IPS数学模型的一致性,并基于BikeSim和Matlab/Simulink 的联合仿真进一步验证了ASMC的控制效果。结果表明,ASMC能够保证异轴两轮自平衡车辆的抗干扰能力和转向能力。

Abstract:

A study was conducted on a two wheel self balancing vehicle with different axles (DATWSBV), which was simplified as an inverted pendulum system (IPS) with gyroscope effect, a nonlinear mathematical model is established using the Lagrange equation, and a sliding mode controller (SMC) and an adaptive sliding mode controller (ASMC) are designed. The three models of uncontrolled, SMC and ASMC controlled were simulated separately, and the results showed that the uncontrolled two-wheel self-balancing vehicle could not restore upright and complete the steering under the action of gyroscope. Compared to SMC, ASMC allows IPS to return to upright faster when disturbed and achieves the desired roll angle for steering. In addition, the actual vehicle model of DATWSBV is established in BikeSim, which verifies the consistency between this Bikesim model and IPS mathematical model, and further verifies the control effect of ASMC based on the joint simulation of BikeSim and Matlab/Simulink. The results show that ASMC can ensure the anti-interference ability and steering ability of heteroaxial two-wheel self-balancing vehicles.