车辆工程毕业论文84686063

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DynamicModelingandAnalyzingofaTwo-wheeledVehiclewithLower-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：低重心式两轮车动力学建模与分析-I-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、能量损耗小等特点，能够完成多轮机器人无法完成的复杂运动及操作，特别适用于工作环境变化大、任务复杂的场合，因此自平衡两轮机器人在工业、民用、军事以及太空探索等领域具有广泛的应用前景。但是，由于两轮自平衡机器人属于非完整约束、欠驱动系统，具有多变量、非线性和欠驱动的特点，因此其动力学方程复杂，控制系统设计难度大，限制了该类机器人的发展。本文在总结现有各种两轮自平衡机器人样机构型的基础之上，提出一种新型的两轮自平衡机器人构型方案——低重心式两轮车，该两轮车能够进行全方位行走，运动速度快，零转弯半径，具有灵活的运动能力。不同于倒立摆式的设计结构，由于采用下垂摆式的结构，因此该两轮车系统具有本质稳定性。针对一般两轮车车体产生的震荡现象，我们提出采用磁流变效应的原理，对车体震荡现象进行主动抑制。通过对低重心式两轮车的运动规律，转向机理进行分析，建立了低重心式两轮车的动能、势能和磁流变阻力矩的数学模型，进而利用拉格朗日方程建立了低重心式两轮车的动力学模型，为低重心式两轮车控制策略的设计提供了理论依据。最后利用MATLAB对得到的动力学模型进行了仿真分析，以获得期望的低重心式两轮车的位移、速度、摆角的实验曲线。通过分析仿真数据验证了建立的动力学模型正确性与有效性。关键词：两轮车；非完整约束；动力学建模；拉格朗日乘子法低重心式两轮车动力学建模与分析-II-DynamicModelingandAnalyzingofaTwo–wheeledVehiclewithLow-gravityAbstractWiththedevelopmentofthescienceandtechnology,moreattentionfocusonthemobilerobot.Asakindofwheeledmobilerobot,two-wheeledself-balancedrobotshavethecapabilitytoadaptthecomplexsituations.Itcanmoveandshiftflexibility.Therefore,two-wheeledself-balancedrobotcanperformseveralroundsofthecomplicatedmotionwhichthemulti-wheeledrobotcannotachieve,especiallyinthechangefulenvironmentsuchasspaceexploration,topographicreconnaissanceandtransportationofdangerousgoods.Soitissuitablefordetectinginnarrowanddangerousspaceandhasawideforegroundbothincivilianandspaceexplore.Buttwo-wheeledself-balancedrobothasmulti-variable,non-linearandparameteruncertaintycharacteristics.Therefore,thedynamicequationisquitecomplexanditisdifficulttodesignacontrolsystem.Bothofthenegativefactorslimitedthedevelopmentofsuchrobots.Basedonsummarizationsofthepresenttwo-wheeledself-balancedrobotinviewofstructure,anewtwo-wheeledself-balancedrobothasbeenproposed.ThatisTwo-wheeledVehiclewithLowgravity.Two-wheeledVehiclewithLowgravityischaracterizedbyrapidmotion,itcanbothruninomnidirectionandturnwithzeroradius.Thedesignofthestructureisdifferentfromtheinvertedpendulum.Duetoadoptthestructureofhangedpendulum,thetwowheeledvehiclewithlowgravityhasthenatureofstability.Inordertoaddressthevibrationphenomenonwhichisgenerallyexistedinthetwowheeledvehicle,weproposeamethedtousetheprincipleofmagnetorheologicaleffectonthebodytosuppresstheshockphenomena.Thispaperanalyzesthelawofmotionandsteeringmechanismofthetwo-wheeledvehiclewithlowgravity.Throughanalysisofrobotindetail,wegetrobot’smodelofkineticenergyandpotentialenergy.Two-wheeledself-balancedrobot’sdynamicmodelisestablishedbyusingLagrangeequation,anditwillprovideatheoreticalbasisforthecontrollerdesign.SimulationisdevelopedderiveddynamicmodelaboveusingMATLABtoprovetheeffectiveness.Atlastweobtainthedesiredexperimentalcurveofthedisplacement,velocity,tiltangleofthetwowheeledvehiclewithlower-gravity.Theanalysisofthesimulinkresultsareconductedtoensurethevalidityandefficacyoftheproposeddynamicmodel.KeyWords：Two-wheeledVehicle；Nonholonomic；DynamicModel;Lagrangemultiplier低重心式两轮车动力学建模与分析-III-目录摘要.....................................................................................................................................IAbstract.....................................................................................................................................II1文献综述..............................................................................................................................11.1课题背景...................................................................................................................11.2两轮自平衡机器人的研究现状...............................................................................21.2.1两轮自平衡机器人的国外研究现状..............................................................21.2.2两轮自平衡机器人国内研究现状..................................................................51.3典型两轮自平衡机器人系统性能分析与比较.........................................................71.4两轮自平衡机器人研究发展趋向.............................................................................91.5课题的意义及研究的主要内容...............................................................................102低重心式两轮车样机介绍..................................................................................................112.1引言...........................................................................................................................112.2低重心式两轮车构型设计介绍...............................................................................112.3低重心式两轮车磁流变阻尼器减震设计................................................................122.3.1磁流变液........................................................................................................122.3.2剪切式磁流变旋转阻尼器的结构及其工作原理........................................132.4低重心式两轮车运动机理分析................................................................................142.4.1低重心式两轮车前向运动机理分析............................................................142.4.2低重心式两轮车转向运动机理分析............................................................152.5本章小结............................................................................