Research On Key Technologies Of Intelligent Personal Transport

Based on the structure of intelligent personal transport (iPT) and inverted pendulum system theory, iPT dynamic model was built, from which equations of state is derived. Linear quadratic controller (LQR) was designed based on the equations of state. Through simulation analysis, it was validated that LQR controller could realize the control target of self-balancing and also the stability control of state variables.Intelligent personal transport is a kind of single wheel or two wheels transport, which generally presents in lithium battery-powered and motor driven. Based on the concept of energy saving and diversification of design ideas, iPT comprehensively uses electronic control technology, embedded technology, sensor technology and information processing technology. It's loved by many social groups by the characteristics of intelligence, smallness and stylish. In this paper, a two-wheeler with parallel arranged wheels was selected as the research object, it's self-balancing as the control target, and studied an adaptive controller design method and the determination of control parameters to meet the demand for iPT's actual driving performance.In this paper, based on extensive reading on the basis of relevant literature, we describe the meaning and importance of intelligent personal transport. At the same time, the dynamics model of a typical construction of intelligent personal transportation system, the choice of control algorithms, the design of structural optimization and simulation analysis of such issues were studied. The details of its main contents are as follows:1) The current situation and significance of the research at home and abroad are overviewed. The current situation of the intelligent personal transport was overviewed, the background and significance of the research was described, and the technical route of this paper was proposed with the analysis of research situation2) Mathematical modeling. The building of the model of intelligent personal transport is the foundation of dynamics simulation of the system. The simplified mechanism of intelligent personal transportation was described, and it was idealized as he inverted pendulum system. The wheel and the pendulum (driver's body) was modeled and analysised separately firstly, then simultaneous the two parts. The model which is constructed by Newton mechanics principle can reveal more mechanical details inside the model, so it is convenient to analyze and promote the system. So Newton Mechanics principle model is used in this paper.3) The most important feature of an automatic control system is its stability. This paper introduces the development process of the optimal control theory, and the stability analysis of intelligent transport model was done with the application of the Lyapunov methed.The judgment matrix of the system controllability and observability was applied to analysis the observability and controllability of the mathematical models of intelligent personal transport. In addition, the linear quadratic regulator theory which was used in this paper was introduced4) The simulation environment, the methods and steps which were used in the building of the simulation modeling were introduced. According to the mathematical model of intelligence personal transport, with the application MATLAB/Simulink tools and linear quadratic regulator theory, conducted its simulation model of the structures.It can be seen from results that linear quadratic controller has good control effect to the vehicle's position, angular displacement, velocity and angular acceleration etc,according to Simulation curve and simulation results.5) The common terms and concrete steps of three-dimensional solid modeling with UG were described. While the existing lack of design of transport were summarizing, the idea of the design was proposed. Then the typical hardware used in the design was selected, such as bodywork material, battery type, and motor types. At the same time, using the technology of three-dimensional modeling, mechanical analysis was completed which based on mechanical analysis.Based on building the three-dimensional model of intelligent personal transport with three-dimensional modeling techniques, we establish its mathematical model. Then the stability of the system was controlled by using the LQR method for linear equation. And with the application of the MATLAB, the optimal feedback was found from the analysis of the results, in order to achieve system expected stability index.In this paper, taking the intelligent and small personal transport for study objective, intelligent personal transport with output parameters, such as speed, acceleration and input parameters, such as motor voltage are controlled effectively. The above study provides theoretical guidance and practical application for the next development of intelligent personal transport...