單軸雙輪自平衡代步車(chē)的研究與設(shè)計(jì).pdf

1、中國(guó)海洋大學(xué)碩士學(xué)位論文單軸雙輪自平衡代步車(chē)的研究與設(shè)計(jì)姓名：張吉昌申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：光學(xué)工程指導(dǎo)教師：鄭榮兒程凱20090601TheDesignoftheSelf—balancingTwoWheeledVehicleAbstracththisthesis，atwowheeledvehiclewiththecharacteristicofselfbalancingwasdevelopedFortheprototypedesign

2、，thevehicleisarrangedbytwoparalleledwheelsandpoweredbyelectricmotorwhichisallunstableobjectneededforcetokeepbalance，justasthetraditional‘invertedpendulum’Sincetheactionprincipleissimilartorocketflyingandrobotwalkingthisr

3、esearchismeaningfulforthetheoryandpracticeThisselfbalancingvehicleiscomposedofapedal，ahandleandtwoparalleledwheelsAsthewholesystem，thereiSnocontroldevice，suchasacceleratorretarderandbrake，exceptonebuttonforturningon／offI

4、nthesystem，twoinnerhubmotorsaremountedonthebothsidesofpedal，andthebatterywiththedrivecontrolcircuitispositionedunderthepedalAccordingtotheinertialsensor(gyroscope，accelerometer)，themonitoringdataofpitchingstateandstatech

5、angingareinputintotheMOLl(MicroControlUnit)calculationfortheaccelerationcommandstodrivethemotorforward／backwardforthebalancekeepingAsaresult，thevehiclewouldmoveforwardorbackwardwiththepitchingofrider，andthevelocitywouldb

6、eproportionaltothetiltangleForturningdifferentvelocitiesoftwomotorswouldbecarriedoutbythetiltangleofhandleInprinciple，aslongasthepowerwasadequate，theriderwon’tfalldownwhichdifferfromthemanual—balancedscooterAboveall，itis

7、avehicleofsimplestructured，flexibleandeasycontrolled，whichcouldbeservedasaconvenienttravelingt001tomeetvarietyneedsabouttransportationFortheposturemonitoringsystem，theinformationsolelydependsonthegyroscopeortheaccelerome