Parameter Extraction And Self-Balance Control For Linear Modeling Of Single-Track Vehicles

With the rapid development of science and technology,small electric balanced single-track vehicles are expected to become an environmentally friendly,cheap and safe means of transportation for people to travel,thereby solving a series of social problems such as air pollution,road and parking lot congestion brought about by the automobile era.In the research of self-balancing control of single-track vehicles,most of the schemes adopted are based on nonlinear dynamic models,using devices such as mechanical flywheels to provide tilting torque to keep the vehicle balanced.However,the solution of using a mechanical flywheel not only increases the power consumption of the vehicle,but also greatly increases the cost,which is not conducive to environmental protection and industrialization.Therefore,this thesis proposes a new method for self-balancing control of single-track vehicles.And there is no known literature based on the linearized dynamic model to use a linear quadratic regulator（Linear Quadratic Regulator,LQR）without using a mechanical flywheel for self-balancing control,therefore,based on the linearized dynamic model established by us without using a mechanical flywheel,an LQR controller is designed for the single-track vehicle to realize the self-balancing control of the single-track vehicles.At the same time,the designed LQR controller is simulated by matlab,and a physical prototype of the single-track vehicle is built to verify the effectiveness of the controller.Both theory and experiments show that the LQR controller designed by us is effective for self-balancing control of single-track vehicle systems and does not require equipment such as flywheels that provide roll torque.The main research contents of this thesis are as follows:（1）The structure of the single-track vehicle is described and the degrees of freedom of the single-track vehicles are analyzed.Some geometric parameters of the single-track vehicles are described by establishing generalized coordinates,then the integral and nonholonomic constraints of the contact between the single-track vehicles and the ground are analyzed,the constraint equation of the monorail is established,and the single-track vehicle is powered by the Lagrangian method.The single-track vehicle dynamic equation is obtained by using mathematical methods to eliminate the constraint equation and Lagrangian factor and linearize it.（2）The characteristics of common self-balancing control methods for single-track vehicles are investigated.According to the characteristics of the single-track vehicle modeling,the control method of LQR is selected for the single-track vehicle design controller,the controller of LQR is designed for the single-track vehicle system through mathematical derivation,and the designed controller is simulated by matlab.（3）The three-dimensional structural model of the single-track vehicle is designed according to the modeling parameters,the selection of each hardware module of the single-track vehicle is completed,the hardware system of the single-track vehicle is designed,and the software program of each hardware module and the overall software program are designed.The design and development of physical prototypes are completed.（4）Based on the physical prototype we designed,we extracted various parameters of the single-track vehicle control,and verified the correctness of the extracted parameters through design experiments,which laid the foundation for self-balancing control.The self-balancing debugging road test of the single-track vehicle was carried out,and the parameters of the two groups of experiments were extracted through two groups of slow and fast self-balancing control experiments,and we verified the effectiveness of the control method through the observation of road test and the analysis of the parameters.