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两轮独立驱动电动平衡车的设计 摘要 两轮电动平衡车是一种能够载人直立行走的交通工具，依靠电能提供动力。它突破了传统意义上的车的概念，其特点是：两个车轮共轴放置，差动式运动，零半径转向，依照倒立摆的原理达到动态平衡。近年来国内外的研究方向主要是两轮平衡机器人的控制系统，针对其机械结构的研究却较少，有关平衡车机械结构的文献更少。本文总结了国内外相关领域的研究成果，在此基础上对平衡车的平衡原理进行了介绍，建立了平衡车的动力学模型，并对平衡车的机械结构进行了设计。所做的具体工作如下： （1）先介绍平衡车姿态测量的传感器以及为减少传感器的测量误差所常用的方法。然后对平衡所需的驱动力矩进行了推导，为后续的机械结构设计提供理论依据。 （2）设计平衡车的机械结构。本文所设计的平衡车由车轮、悬架、车架和操纵杆四部分组成。轮毂电机和减速器集成在车轮内部，提高了电动车的动力性能和工作效率。操纵杆用来控制平衡车的转向和车速。 （3）对平衡车进行动力学分析，建立了平衡车的三维动力学模型。模型建立过程中的大部分计算由数学软件Mathematica进行。 关键词 平衡车；驱动力矩；机械结构；动力学模型； Abstract Two‐wheeled self‐balancing electric vehicle is a way to walk upright manned vehicles , rely on electricity to power. Self‐balancing vehicle breaking the concept of vehicle in the traditional sense, it is characterized by two wheels that in one line , differential movement , zero turning radius and in accordance with the principle of inverted pendulum dynamic equilibrium. In recent years, research at home and abroad are mainly on two balancing robot control system, studies of its mechanical structure has less literature ,studies on self‐balancing vehicle’s mechanical structure even less. This paper summarizes the research results in related fields, then the principle of balancing of the vehicle was introduced,a dynamic model of the vehicle was derived，and the mechanical structure of the vehicle was designed. Specific works are as follows: (1)Describing the self‐balancing vehicle attitude measurement sensor and a method to reduce the measurement error of the sensor common .Then the required drive torque has been derived to provide a theoretical basis for the subsequent mechanical design . (2) Mechanical design of the vehicle. The vehicle is designed in this paper combined by four parts, means wheels, suspensions, frame and lever. Wheels motor and reducer integrated in the wheels inside , improve dynamic performance and efficiency of the vehicle. Joystick to control the balance of the car 's steering and speed. (3) The self‐balancing vehicle dynamics analysis, three‐dimensional dynamic model of the balance of the vehicle was derived. Most of calculations in the modeling process done by the mathematical calculation software Mathematica. Keywords: Self‐balancing vehicle; Driving torque; Mechinics structure; Dynamic model 目录 第1章 绪论 ....................................................................................................... 1 1.1 研究的目的及意义 .............................................................................. 1 1.2 国内外研究现状 .................................................................................. 2 1.2.1 国外研究现状 ........................................................................... 2 1.2.2 国内研究现状 ........................................................................... 3 1.3 论文主要内容 ...................................................................................... 4 第2章 平衡车的平衡原理 ............................................................................... 6 2.1 简介 ...................................................................................................... 6 2.2 平衡车的姿态测量和平衡控制 .......................................................... 7 2.2.1 平衡车的姿态测量 ................................................................... 7 2.2.2 平衡车的平衡控制 ................................................................. 10 2.3 平衡车行驶时所需的驱动力矩 ........................................................ 11 2.3.1 平衡车要克服的行驶阻力 ..................................................... 11 2.3.2 平衡车保持平衡所需的驱动力矩 ......................................... 15 2.4 本章小结 ............................................................................................ 17 第3章 平衡车的机械结构设计 ..................................................................... 18 3.1 平衡车总体方案 ................................................................................ 18 3.2 车轮设计 ............................................................................................ 20 3.2.1 车轮结构方案设计 ................................................................. 20 3.2.2 车轮详细设计 ......................................................................... 23 3.3 悬架设计 ............................................................................................ 34 3.4 车架和操纵杆设计 ............................................................................ 36 3.5 平衡车各部件的装配 ........................................................................ 38 3.6 本章小结 ............................................................................................ 38 第4章 平衡车的动力学模型 ......................................................................... 40 第5章 总结 ..................................................................................................... 48 致谢...................................................................................................................... 49 参考文献.............................................................................................................. 50 1 第1章 绪论 1.1 研究的目的及意义 随着我国工业水平的提高，近