电机与控制应用2016，Vol.43Issue(5)：28-32,5.
基于滑模变结构算法的两轮自平衡电动车控制∗
Control of Two Wheeled Self-Balancing Vehicle Based on Sliding Mode Control
摘要
Abstract
In order to solve the balance control problem of two wheeled self-balancing vehicle and the influence of the mathematical model parameters on the control performance. The control method base on sliding mode and field-oriented control ( FOC ) of the motor was proposed. Firstly, the dynamic model of the two wheeled self-balancing vehicle and motor were established. The balance control system was decomposed into three subsystems. Secondly, a control scheme for the two wheeled self-balancing vehicle was established. The sliding mode control algorithm was used in the FOC of the motor. Lastly, the effect of the control method was analyzed by experiments. The simulation results show that the control method was effective.关键词
滑模变结构/两轮自平衡车/电机Key words
sliding mode control/two wheeled self-balancing vehicle/motor分类
信息技术与安全科学引用本文复制引用
蔡志端,余庆辉,张文莉,张银鑫,荀倩..基于滑模变结构算法的两轮自平衡电动车控制∗[J].电机与控制应用,2016,43(5):28-32,5.基金项目
国家级大学生创新创业训练计划项目(201510347009) （201510347009）
湖州市公益性技术应用研究计划项目(2015GZ05) （2015GZ05）
