两轮平衡车的建模与控制研究

39(200237)TH89A10003932(2012)11-1450-06CCNnlDmLNgms2LN-kgm2rmmLRkgmkgPPNRmxzxlmzmmimsms2radrads2zradradsrads2radrads2MATLABSIMULINKx11JCLj=L12012-0911()(6100402861272064)(WHIOl4013)(12zz052)1114512Jp0=(P+P)Lsin0(+H)Lcos0(10)4zCRY*y22MR=(1)J=cR(2)MLL=L(3)=C-An(4)M=M=MJ=J=J33}*v3=HL+RP=+Lsin04i=Lsin02+Lcos0L+Rm2Tn=PL+PRmg=Lcos0L=Lcos02Lsin0i44(11)=(12)=i2(12)050sin00cos010(2+++=L+mL2mgLO=n(14)(+)=(13)(15)0010]rooo10o32oo8ooojL_0O00b3lb32b41b42M=08kgR=01mL=05m=0001kgm2m=10kg=0002kgm2JP=00034kgm2D=05m(6)(7)(8)(9)=AX+IY=CX+DuABCDuX39y=Y=lO01OO0O2AMATLAB[yT]=eig(A)At=0A2=0A3=108004A4=108004A0X=Ax+BuY=CX+Du11,=rKX=AX+(rKX)=(ABK)X+BrKrKKMATLABackerplacees-{timreg5|placeK=place(ABP)AP0O4966lOO100O0P=[2+42-j41020]PK=place(ABP)sys=ss(ABKBeye(4)0)t=00014=initial(sys[1000]t)=[1002=[0103=[001=[000subplot(221)plot(t1)gridMATLAB5_?_5MATLAB38646OO8461IO0O01IlpJO09941pJ00OOl0O0O0lOB8ool0O0OL11MATLABSIMULINK66SIMULINK{Y0K76MATLAB0SIMULINK04_a7SIMULINKP1=[2+J42j}41020]P2=[4+J}84j{81020]P3=[8+j168J}161020]MATLAB8gtsK(P)tls8MATLABLQRLQR39QQ=250000000OOO10000O0R=1tlstsMATLABLQRK=LQR(ABQR)9LQRh8111tls9LQR3PIDKPIDPID()[1]LQ[J]200818(4)5760ts[2]KhacDucDoGeraldSeetMotionControlofaTwo-WheeledMobileVehiclewithanInvertedPendulum[J]JournalofIntelligentandRoboticSystems201060(34)577605[3][D]2006[4]MATLAB[J]200224(3)7879[5][J]200520(3)241244[6]MATLAB[J]2005(10)1618[7]SimMechanics[J]201022(11)26432645[8][D]2009(1497)1lMIF1497J]201031(10)2635[J]2011(45254SCTP[J]200717(3)59CaroALSCTPAProposedStandardforRobustInternetDataTransport[J]IEEEComp200336(1t)5663AhmedAEATarekSMyungLLSSCTPABandWidthAggregationTechniqueforStreamControlTransmissionProtocol[J]ComputerCommunications27(10)10121024IyengarJAmerPRtewartRConcurrentMuhipathTransferUsingSCTPMuhihomingoverIndependentEndtoendPaths[J]IEEEACMTransactionsonNetworking200614(5)951964LinuxSocket[J]200440(16)10609RealizationofMultipathConcurrentTransmissionBasedonMIFQIXuewen8LINGZhihaoZHANGZhifeio(aSchoolofInformationScienceandEngineeringbMOEKeyLaboratoryofAdvancedControlandOptimizationfoChemicalProcessesEastChinaUniversityofScienceandTechnologyShanghai200237China)AbstractConsideringthefactthatMIF(Multiinterface)terminalandthediversityofInternetaccesstechnologycanprovidepowerfultechnicalsupportandinterminalcontrolmechanismtomeettheneedofbothinternetofthingsandubiquitousnetworkformultiflowconcurrenttransmissionamultipathconcurrenttrans-missionmodelwasproposedtotransmittrafficflowstoMIFterminalconcurrentlybysplittingtrafficflowsontheserversideTheexperimentalresultsproveitssuperiorityinimprovingnetworkthroughputandtransmissionefficiencyoftrafficflowsKeywordsMIFmulti-paththroughput(1454)StudyonModelingandControlofTwo-wheeledAuto-balancingVehicleXUEFanSUNJing-gaoYANHuan-cheng(MOEKeyLaboratoryofAdvancedControlandOptimizationforChemicalProcessEastChinaUniversityofScienceandTechnologyShanghai200237China)AbstractBasingonphysicalstructureofthetwo-wheeledvehiclethemechanicalequilibriumofthevehicleattransientequilibriumwasanalyzedtoobtainthebalanceequationSOastobenefitcalculationandtoestablishmathematicalmodelSimulationwithMATLABandSIMULINKtoolboxshowsthattoconstructclosedloopsystembasedonopensystemandmeanwhiletoselectasuitablefeedbackgaincanmakesystem8angleallgularvelocitydisplacementandspeedtendtobestableandthecontrollabilityofthesystemcanbeverifiedKeywordsbalancevehiclemechanicalequilibriumpoleassignmentopenloopclosedloopfeedbackgainsimulation1j1j1J1l-1J34567rLrLrLrLrL