Dissertation > Excellent graduate degree dissertation topics show

Research on Key Technologies of Intelligent Personal Transport

Author: WangShaoKai
Tutor: WangYunCheng
School: Jilin University
Course: Vehicle Engineering
Keywords: Intelligent personal transport LQR Structural optimization design
CLC: U489
Type: Master's thesis
Year: 2011
Downloads: 62
Quote: 0
Read: Download Dissertation

Abstract

Based on the structure of the intelligent personal transport (iPT) and inverted pendulum system theory, to build a dynamic model of intelligent personal transport, and derived from the equation of state. Meanwhile, based on the state of the system equations to study the linear quadratic controller (LQR) method. Verified by simulation analysis LQR method can effectively control the stability of the system state variables, so as to achieve the the iPT self-balancing purposes. Smart personal transport is a single round or two of a transport generally powered by lithium battery, independent motor drive. Based on energy conservation and diversification of the design concept of the dominant ideology, and comprehensive use of electronic control technology, embedded sensor technology and information processing technology, miniaturization, lightweight social groups universally accepted. In this article, the parallel arrangement of the structure of two-wheelers to the left and right as the object of study, its independent balance driving control objectives, and the controller design method as well as the determination of the control parameters, to meet the needs of the iPT actual driving performance. In this paper, on the basis of extensive reading the relevant literature on the significance and importance of intelligent personal transport, while its typical system dynamics model control algorithm selection, structural optimization design and simulation analysis issues such as research, its main content specific summarized as follows: 1) the research status and research significance intelligent personal transportation research status on the background and significance of this study, combined with research status analysis, the technical route of this study. 2) the establishment of the mathematical model of intelligent personal transport the establishment of the mathematical model is the basis of its system dynamics simulation. This paper describes a simplified mechanism for intelligent personal transport, its idealized inverted pendulum system. First, the wheels and the pendulum (car body) separate modeling and analysis, and then the two parts simultaneous. Model of Newtonian mechanics formula established in this paper, the modeling process is complicated, but you can clearly observe the actual impact of every action iPT system, to facilitate further analysis, and convenient system to improve the conduct of the work. 3) control algorithm for the automatic control system of the most important features than its stability. Introduction to the course of development of the theory of optimal control, application of Lyapunov stability analysis to build the mathematical model of intelligent transport. At the same time, the application can observability and controllability determine observability and controllability analysis matrix built mathematical model of intelligent personal transport. In addition, the principle of the linear quadratic regulator (LQR) introduced. 4) simulation model construction and analysis of simulation results and a brief introduction to the methods and steps of the intelligent personal transport simulation environment, the simulation model built. In addition, personal transport mathematical model based on the build intelligent applications MATLAB / Simulink tools and linear quadratic regulator (LQR) method, its simulation model structures. Meanwhile, iPT model for the analysis of simulation results, the simulation curve and the simulation results of the above model, indicating that the use of the control algorithm is able to effectively control the displacement of the IPT, velocity state variables, such as angular displacement and angular velocity of the upper hem lever. 5) the structural design and optimization of this article describes the common terms and specific steps UG three-dimensional solid modeling construction, and a summary of the deficiencies of the structural design of the existing means of transport, and thus the design concept proposed in this article. Then iPT typical hardware used by the selected, such as the body, the material of the body, the battery type, the motor type, etc.. At the same time, the use of three-dimensional modeling techniques, intelligent personal transportation overall structural design based on mechanical analysis completed. Establish its mathematical model, based on the use of three-dimensional modeling techniques for three-dimensional modeling of intelligent personal transport, the use of the the LQR method on the stability of the system of linear equations of state control. And simulation using MATLAB software, finding the optimal feedback from the analysis of simulation results, in order to achieve the stability of the system indicators able to meet the expected requirements. Of the intelligent personal transport system dynamics model, the control algorithm selection, carried out in-depth study simulation analysis of its structure design optimization problem, and provide theoretical guidance and methodological support to guide the actual intelligent personal transport further study.

Research on Key Technologies of Intelligent Personal Transport

Abstract

Related Dissertations