【摘要】：隨著中國現(xiàn)在城鎮(zhèn)化發(fā)展越來越快,城市生活環(huán)境狹窄了許多,并且伴隨著生活節(jié)奏地加快,人們對(duì)適合地交通工具的需求日益增長。盡管汽車仍舊是人類最普遍的短途交通工具,但是它所帶來的能源緊缺、環(huán)境污染、交通擁堵、泊車等問題,給大家正常生活帶來了困擾。在這種前提下,提出的二輪載人自平衡車是一種由電力驅(qū)動(dòng)的具有自動(dòng)平衡能力的新型綠色個(gè)人交通工具,以其自動(dòng)平衡的特性、優(yōu)良的代步效果以及輕便易帶有望成為下一代全新的個(gè)人短途交通代步工具。載人自平衡車,實(shí)際上完全突破了傳統(tǒng)車的概念,由之前的靜態(tài)穩(wěn)定的車體改成現(xiàn)在靜態(tài)非平衡性地車體,同時(shí)還有諸多優(yōu)點(diǎn),如節(jié)能減排、體積小、可實(shí)現(xiàn)零半徑回轉(zhuǎn)等。另外載人平衡車技術(shù)研究的過程中,該系統(tǒng)作為能夠感知環(huán)境因素變化,能夠進(jìn)行分析判斷然后做出行為控制的這些特殊屬性,也為多功能移動(dòng)機(jī)器人研究領(lǐng)域提供了很多便利,移動(dòng)機(jī)器人研究成為了當(dāng)前科學(xué)研究的一大熱點(diǎn)。本論文主要是利用自動(dòng)控制理論與技術(shù)、動(dòng)力學(xué)理論、力學(xué)、電子技術(shù)、軟件技術(shù)等專業(yè)知識(shí),對(duì)兩輪載人自平衡車系統(tǒng)進(jìn)行研究分析和設(shè)計(jì)制作。本人主要做了如下研究：1、設(shè)計(jì)了一款合理的自平衡車研究的平臺(tái),根據(jù)控制思路的需要尋找并搭建了機(jī)械框架以及硬件控制方案,包括機(jī)械框架、微處理器、電源選取與供電思路、姿態(tài)傳感器模塊以及電機(jī)驅(qū)動(dòng)模塊等；2、在已有的平臺(tái)及控制電路的情況下,設(shè)計(jì)一套軟件控制方案,并完成軟件的相應(yīng)設(shè)計(jì)；3、研究并實(shí)驗(yàn)對(duì)比算法,在軟件設(shè)計(jì)過程中,采用適宜的優(yōu)化算法處理數(shù)據(jù)；4、完成實(shí)際載人跑動(dòng)測(cè)試、智能車車體自平衡測(cè)試、以及轉(zhuǎn)彎測(cè)試等相關(guān)實(shí)驗(yàn)；5、最后,本文提出了一套切實(shí)可行的自平衡車研究方案,完成了兩輪載人智能車的制作。目前市面上有形形色色的智能車產(chǎn)品,在穩(wěn)定性和耐用性上比本人的設(shè)計(jì)的作品要好一些,但是從經(jīng)濟(jì)的角度來,都比較昂貴。另外,市面上產(chǎn)品針對(duì)設(shè)計(jì)性更強(qiáng),拓展性研究開發(fā)的可能性小,本文設(shè)計(jì)的作品在后續(xù)的科研可拓展性相對(duì)更好些。
[Abstract]:With the rapid development of urbanization in China, the urban living environment is much narrower, and with the rapid pace of life, people's demand for suitable means of transportation is increasing day by day. Although the automobile is still the most common short-haul vehicle for human beings, it brings problems such as energy shortage, environmental pollution, traffic jam, parking and so on. Under this premise, the two-wheel manned self-balancing vehicle is a new type of green personal vehicle with automatic balance capability driven by electric power. Excellent mobility and easy-to-wear are expected to be the next generation of personal short-distance transportation tools. In fact, the concept of manned self-balancing vehicle has completely broken through the concept of traditional vehicle. It has changed from static and stable car body to static unbalanced ground car body. At the same time, there are many advantages, such as energy saving and emission reduction, small volume, zero radius gyration and so on. In addition, in the course of the research on the technology of manned balancing vehicles, the system, as a special attribute that can perceive the changes of environmental factors, can analyze and judge, and then make behavior control, It also provides a lot of convenience for the research field of multifunctional mobile robot. The research of mobile robot has become a hot spot in current scientific research. In this paper, the automatic control theory and technology, dynamics theory, mechanics, electronic technology, software technology and other professional knowledge are used to study, analyze and design the two-wheel manned self-balancing vehicle system. I mainly do the following research: 1, designed a reasonable self-balancing vehicle research platform, according to the need of control ideas to find and build the mechanical framework and hardware control scheme, including mechanical framework, microprocessor, Power source selection and power supply train of thought, attitude sensor module and motor driving module; 2. Under the condition of the existing platform and control circuit, a set of software control scheme is designed, and the corresponding design of the software is completed. 3, the algorithms are studied and compared, and the appropriate optimization algorithm is used to process the data in the process of software design. 4, complete the actual manned running test, intelligent vehicle body self-balance test, and turn test and other related experiments. 5, finally, this paper put forward a set of feasible self-balancing vehicle research project, completed the production of two-wheel manned intelligent vehicle. At present there are a variety of smart car products in the market, in terms of stability and durability better than my design works, but from an economic point of view, are more expensive. In addition, the products in the market are more design, and the possibility of extensive research and development is small. The works designed in this paper are relatively better in the subsequent scientific research expansibility.
【學(xué)位授予單位】：廣西師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U48

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本文編號(hào)：2302630