自平衡独轮滑板车的动力学分析

DYNAMIC ANALYSIS OF A SELF-BALANCING ONE-WHEEL SCOOTER

  • 摘要: 本文讨论自平衡独轮滑板车的动力学原理。将滑板车简化为由带骑手的车架和车轮组成的双刚体系统。基于动量矩定理列写车轮纯滚动条件下的动力学方程。对滑板车加速减速和转弯的动力学过程,以及骑手的直立稳定性给出理论解释。导出由控制系统保证的滑板车自平衡过程的稳定性条件。

     

    Abstract: The dynamics of a self-balancing one-wheel scooter is analyzed in this paper. The one-wheel scooter is simplified as a two-body system composed of a frame with rider and a wheel. Under the nonholonomic constraint conditions of pure rolling of the wheel, the dynamic equations of the system are derived by use of the theorem of angular momentum. The acceleration and deceleration, the turning motion of the scooter, and the standing stability of the rider are examined theoretically. The stability criteria of self-balancing procedure by control system are derived.

     

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