Research On Building Virtual Model Method And Exploitation Of Self-balancing Dual-wheel Electric Vehicle

Self-balancing Dual-wheeled Electric Vehicle (SDEV for short) is a new kind ofclean and urban means of transport, and has been widespread concern; which is due toits characteristics of simple flexible operation, small size and so on; at the same time,the self-balancing two-wheeled system, which is a nonlinear, strong coupling,time-varying systems, poses a challenge for control theory. However, owing to its highsafety performance requirements leading to high cost, it causes the SDEV cannot get awide range of uses. In this thesis, the main point includes the following three aspects:the first is to simplify the design of mechanical structures, use the existing componentsand profiles in order to reduce its manufacturing costs; the second is to utilize the newdevelopment methodology to shorten the development cycle and costs; the last is todevelop the new devices to increase its functions.The paper describes the overall design of the SDEV’s system, establishes itssystem block diagram and proposes features of this design, and Select the hub motor,battery, master chips and other key components. In this context, this paper has builtmodel, designed in three-dimensional and assembled of the SDEV’s entire mechanicalstructure using CATIA. In addition, it has done the finite element analysis of the criticalcomponents, and used existing components and profiles to produce the maincomponents of the SDEV. Being directed against deficiencies of the mathematicalmodel of the STEV and on the basis of the vehicle design, it’s built by using ADAMS tothe multi-body dynamics model, and which constituted a hybrid simulation model withMATLAB/Simulink. While MATLAB/Simulink model come from combination themathematical model of existing SDEV and the design parameters of the develop vehicle.Give the two models the same input. By analyzing the results of the simulation aboutthe two models, it can verify effectiveness of the hybrid model. Finally, the to Obstacledevice development ideas, detailed description of its function, then the more impaireddevices to conduct the preliminary design of the mechanical structure.The assembly process shows that assembly has a high installation performance inCATIA platform. Using the existing components and profiles has reduced costs.Analysis of simulation results found that the mixed model based on ADAMS andMATLAB can truly reflect the state of motion of the SDEV. This model is of greatsignificance to further the development of control algorithms.