摘要:基于倒立摆模型的两轮自平衡双轮电动车的范畴，并结合了自主移动的思想，其 体积小、结构简单、运动灵活，适于在狭小和危险的空间内工作，在民用和军事上有 着广泛的应用前景；同时由于其不稳定的动态特性，两轮自平衡电动车成为验证各种 控制算法的理想平台，具有重要的理论意义。两轮自平衡电动车属于非线性、时变、 欠驱动、非完整约束系统，控制问题是其研究的关键。本文旨在探讨两轮自平衡电动 车控制算法设计相关问题，为最终实现完全自主移动打下基础。采用牛顿动力学方法， 对两轮自平衡电动车进行了运动学和动力学分析，建立了系统的数学模型，为控制器 设计提供理论依据。

　　　建立电动车的两轮转速控制系统模型，借助于MATLAB 6.5软件，对双轮电动电动 车控制系统进行了仿真研究，实现了系统模型的动态仿真，对系统作了稳态和动态性 能指标分析，以获得两轮电动车的自平衡的稳定控制系统。

　　　用LQR最优控制器对两轮的运行偏差进行调节，通过控制摆杆的角度的变化控制 电动机的启动、加速、停止等动作使电动车保持稳定行走。研究了利用仿真手段整定 计算机控制双轮电动车系统的采样周期和LQR参数的方法，以获得优良的系统调速性 能。为进一步研究开发新型的双轮电动车打下一定的基础。

关键词: 双轮电动车，动力学，LQR控制，MATLAB仿真

Abstract:Two-wheeled self-balancing robot based on the inverted pendulum model belongs to the category of the wheeled robots and combines with the idea of autonomous moving. The robot is small in mechanism and can make a flexible motion. So it is fit for tasks in narrow and dangerous space and has a wide foreground both in civilian and military application. The instability of balancing robot systems will also be an excellent test bed for control theory  experimentation.  The  controller  developing  processes  involved  in  balancing  a two-wheeled autonomous robot is mainly discussed in this paper. The state-space equation is obtained through the mathematical model which is established by the analysis of kinematics and dynamics.

　　　The  establishment  riding  instead  of  walking  vehicle's  two  round  speed  control system model, with the aid in the MATLAB 6.5 software, has conducted the simulation research to two round electrically operated riding instead of walking vehicle control system, has realized the system model dynamic simulation, has made the stable state and the dynamic property target analysis to the system, obtains the riding instead of walking vehicle's self regulation stable control system. Carries on the adjustment

　　　With the LQR optimum control to two round movement deviation, through controls swing link's angle change movements and so on control motor's start, acceleration, stop to cause  the  electric  car  maintains  walks  stably. Has  studied  the  use  simulation  method installation computer control riding instead of walking vehicle system's sampling period and the LQR parameter method, obtains the fine system velocity modulation performance. To  further  study  the  development  new  electrically  operated  riding  instead  of  walking vehicle to build certain foundation.

Keywords:  Two  round  riding  instead  of  walking  vehicles,  Dynamics,  LQR  control, MATLAB simulation.