Simulation And Verification Of Self-Balancing Of Single Track Two-Wheeled Vehicle Under The Action Of Control Moment Gyroscope

Two wheeled vehicles,such as motorcycles,take steam powered bicycles as the starting point of their development.In the course of one and a half centuries,such vehicles have been highly mature.At present,its power system has gradually developed from traditional fuel power to electric drive,and its driving mode is gradually moving from manned driving to unmanned driving.Aiming at the self-balancing stability of such vehicles in static and driving process,taking the single track two wheeled vehicle under the action of control moment gyroscope as the object,the self-balancing theoretical control analysis is carried out,the two wheeled vehicle dynamic model in line with the actual dynamic law is constructed,the cascade PD controller is designed and the relevant parameters are set,and the algorithm is verified through the static and dynamic balancing simulation and relevant tests of the two wheeled vehicle.The specific work is as follows:(1)According to the application of control moment gyroscope(CMG)in two wheeled vehicles at home and abroad,the self-balancing working principle of single track two wheeled vehicles and the singular saturation phenomenon of control moment gyroscope are analyzed;Set the frame precession angle to(-90 °,+ 90 °),and use the test bench to measure the moment of the gyro to verify the torque range under the rotor speed in the gyro theory.Apply CMG to the self-balancing two-wheeled vehicle,and calculate the rolling angle range and the theoretical value of external interference force when the vehicle body rolls under static conditions.(2)Based on the structure and characteristic parameters of the real vehicle,the three-dimensional model of the control moment gyroscope and the two-wheeled vehicle is established,and the constraints,drives,model interfaces,tires and roads in the two-wheeled vehicle dynamic model are established at the same time;The characteristics of the established dynamic model are verified,and the whole vehicle model is output from ADAMS to SIMULINK to prepare for the subsequent Co-simulation analysis;Then the stability of the whole vehicle control system of two-wheeled vehicle is analyzed.(3)According to the instability of the two-wheeled vehicle system,a cascade PD controller is designed by pole assignment method to change the zero and pole of the system in order to realize the stability of the system;In addition,the singularity avoidance algorithm is designed to realize the output of gyro normal torque;At the same time,the gravity feedforward compensation is designed to improve the robustness and stability of the controller,so as to improve the self-balancing stability of the two-wheeled vehicle;After the PD parameters of the inner and outer loop are adjusted,the correctness of the cascade PD controller is verified through the simulation analysis of the vehicle body subjected to lateral interference 100 N.Finally,the gravity feedforward compensation algorithm and singular avoidance algorithm are compared with the complete algorithm.(4)Aiming at the self-balancing of two-wheeled vehicles under typical working conditions,the simulation analysis of roll back,anti-lateral interference,anti-offset load,crossing trenches and crossing obstacles is carried out,and the control effect is verified by observing the changes of body rolling angle and frame precession angle;On this basis,a typical real vehicle test is designed to verify the feasibility of cascade PD controller and other related algorithms.