关键词: 两轮自平衡代步车, 数学模型, 自抗扰控制, 自适应差分进化算法, 动力学仿真

Abstract: Aiming at the problems of the self-balancing control and steering control of two-wheeled self-balancing vehicles,an active disturbance rejection control ( ADRC) strategy on the basis of the adaptive differential evolution ( ADE) algorithm and an improved proportion-integral-derivative ( PID) control strategy are proposed.Firstly,on the basis of the nonholonomic dynamic Routh equation in generalized coordinates,a nonlinear mathematical model of two-wheeled self-balancing vehicles is constructed by using the Lagrange formula.Then,an ADRC strategy whose parameters are adjusted by means of the ADE algorithm is designed for the self-balancing control,and a PID control strategy combining tracking differentiator ( TD) is designed for the steering control.Finally,a dynamic model of the whole vehicle is constructed through the Adams software by applying the virtual prototype technology,and a co-simulation is performed by combining the Matlab /Simulink control strategy model.The results show that the proposed control strategies can effectively keep the gesture control with a high adjusting speed,a high control precision and a strong capacity of resisting disturbance.

Key words: two-wheeled self-balancing vehicle, mathematical model, active disturbance rejection control, adaptive differential evolution algorithm, dynamic simulation