| In this paper,the control system of a two-wheel uniaxial electric vehicle is studied and designed.This kind of two-wheeled electric vehicle has a good trafficability,and is quite convenient to park in the busy urban traffic,and at the same time,it can relieve the urban traffic pressure.The design of the control system is based on the analysis of the dynamic model of the vehicle.Based on the model,the controller,software and hardware of the vehicle are designed.In the last chapter,,the performance of the real vehicle is tested.First of all,the kinematic modeling of each part of the vehicle is carried out,mainly for the wheels and body of the vehicle,as well as the kinematic model of the whole vehicle,meanwhile,the moment of inertia and friction are studied.The kinetic energy equation of each part is established to analyze the control performance and observability of the vehicle.Secondly,on the basis of kinematic and kinetics models,the algorithm of the control system is studied.Considering the practicability,the PID controller is designed in detail.At the same time,because of the integral error of gyroscope,Kalman filter algorithm is used to fuse the attitude information measured by accelerometer and gyroscope,and the inclination angle value with high reliability and accuracy is obtained.Thirdly,the overall design of the two-wheeled walker is carried out,above all,the hardware selection is carried out,and the components such as MCU,accelerometer,gyroscope and so on are selected.The gyroscope sensor circuit,acceleration sensor circuit,motor drive circuit,steering system detection circuit and so on are designed,the debugging system adopts Bluetooth to transmit data,and the PCB circuit board is designed by EDA software.The main program is designed,the flow chart is compiled,and the ADC conversion and control part subroutine are designed.Finally,the real car test is carried out.The vehicle is assembled,Kalman filter test,ADC conversion test,driver test,anti-interference test had been carried out.The performance of the vehicel meets the requirements. |
