Multi-Body Dynamics Model Building of Self-Balancing
Dual-Wheeled Vehicle Using ADAMS and MATLAB

doi:10.3969/j.issn.1674-0696.2013.01.26

Abstract

Abstract: On the basis of the vehicle design，the multi-body dynamics model was built by using ADAMS，and constituted a hybrid simulation model with MATLAB/Simulink． MATLAB/Simulink models were established with the combination of the mathematical model of existing self-balanced dual-wheeled vehicle and the design parameters of the develop vehicle． The two models received the same input． By analyzing the simulation results of the two models，it’s found that mixed model of ADAMS and MATLAB also can demonstrate the state of vehicle motion accurately． This method of such a hybrid model of selfbalancing dual-wheel based on ADAMS can provide a new way for the dynamics simulation of the other electromechanical systems．

Key words: self-balancing dual-wheeled electric vehicle, ADAMS, dynamics simulation

摘要： 根据实车设计数据利用ADAMS 软件建立ADAMS 多体动力学模型,并与MATLAB/Simulink 构成混合仿真模型的步骤和方法；同时利用已有自平衡双轮车数学模型和所研制车的设计参数建立起MATLAB/Simulink 模型,并对两种模型给予相同的输入进行仿真。通过分析比较两者仿真结果,发现ADAMS 与MATLAB 混合模型亦能如实的反映出自平衡双轮车的运动状态,也表明这种基于ADAMS 的混合模型可为自平衡双轮电动车等机电系统的动力学仿真提供一种新的模型的构建方法。

关键词: 自平衡双轮电动车, ADAMS混合模型, 动力学仿真

CLC Number:

TP391.9

Yang Zhigang,Tian Lang,Shan Shaohua. Multi-Body Dynamics Model Building of Self-Balancing Dual-Wheeled Vehicle Using ADAMS and MATLAB[J]. Journal of Chongqing Jiaotong University(Natural Science), 2013, 32(1): 112-117.

杨志刚，田浪，单少华. 基于ADAMS与MATLAB自平衡双轮车混合模型建模[J]. 重庆交通大学学报（自然科学版）, 2013, 32(1): 112-117.

References

[1]李增刚.ADAMS 入门详解与实例［M］.北京: 国防工业出版社， 2006: 1-5．
Li Zenggang.The Detailed ABC and Examples of ADAMS ［M］． Beijing: National Defense Inolustry Press， 2006: 1-5．
[2]梁文宇，周惠兴，曹荣敏，等.双轮载人自平衡控制系统研究综述［J］.控制工程，2 010， 17( 增刊1) : 139-144．
Liang Wenyu，Zhou Huixing，Cao Rongming et al.Summary of dual-wheel self-balancing transporters［J］.Control Engineering of China，2010，17( supp1) : 139-144．
[3]屠运武，徐俊燕，张培仁，等.自平衡控制系统的建模与仿真［J］.系统仿真学报，2 004，1 6( 4) : 839-841．
Tu Yunwu，Xu Junyan，Zhang Peiren，et al.Model and simulation of Self-balance control system［J］.Journal of System Simulation， 2004，16( 4) : 839-841．
[4]郭维城，张陈，肖楠.基于ADAMS 的桅杆式高空作业车倾翻性研究［J］.机械设计与制造， 2011( 10) : 266-268．
Guo Weicheng，Zhang Chen，Xiao Nan.Research on the poured over performance of mast type aloft working car based on ADAMS ［J］.Machinery Design ＆ Manufacture，2011( 10) : 266-268．
[5]Pacejka H B.Tire and Vehicle Dynamics［M］.Oxford: Butterworth- Heinemann，2002: 78-82．
[6]陈军.MSC.ADAMS 技术与工程分析实例［M］.北京: 中国水利水电出版社，2 008: 157-181．
Chen Jun.Technology and Engineering Analysis Example of ADMAS ［M］.Beijing: China Water Conservancy and Hydropower Press，2008: 157-181．
[7]张培仁，张志坚，郑旭东，等.基于16 /32 位DSP 机器人控制系统设计与实现［M］.北京: 清华大学出版社，2 006: 264-270．
Zhang Peiren，Zhang Zhijian，Zheng Xundong，et al.The Control System Design and Implementation of Robot Based on 16 /32 DSP ［M］.Beijing: Tsinghua University Press，2006: 264-270．
[8]Azizan H，Jafarinasab M，Behbahani S，et al.Fuzzy control based on LMI approach and fuzzy interpretation of the rider input for two wheeled balancing human transporter［C］.Xiamen: Control and Automation ( ICCA) ，2010 8th IEEE International Conference， 2010:  1322-1327．

[1]	WEN Xiaoxia, JIANG Lu, DU Zixue, KONG Dexu. Fatigue Analysis of Monorail Vehicle Bogie Frame Based on Different Weld Structure [J]. Journal of Chongqing Jiaotong University(Natural Science), 2021, 40(01): 134-139.
[2]	CAO Yuanwen, WANG Dong, WANG Jianwen, ZHOU Hua. Influence Analysis of the Damage of the Cement Concrete Pit Pavement on Dynamic Load of Heavy-Load Vehicles [J]. Journal of Chongqing Jiaotong University(Natural Science), 2020, 39(08): 95-100.
[3]	CAO Yuanwen,WANG Dong,WANG Jianwen,YANG Xue. Influence Analysis of Cement Concrete Pavement Damage on Dynamic Load of Heavy-Load Vehicle [J]. Journal of Chongqing Jiaotong University(Natural Science), 2020, 39(07): 86-91.
[4]	DU Zixue1, TANG Fei1, HE Qinhong1, LV Zhiming2. Effect of Walking Wheel Failure on Dynamics Performance of Straddle-Type Monorail Vehicle [J]. Journal of Chongqing Jiaotong University(Natural Science), 2018, 37(09): 122-127.
[5]	LI Zhanyu1, DONG Zhurong1, 2, DENG Zhijun1, REN Shaoyun1. Design of Steering Suspension Guide Device with Large Angle Based on ADAMS Simulation and Linear Regression Analysis [J]. Journal of Chongqing Jiaotong University(Natural Science), 2017, 36(5): 110-114.
[6]	ZHOU Haichao，ZHAI Huihui，YANG Jian. Propeller Shaft and Rear Axle Housing System Vibration Analysis Based on ADAMS [J]. Journal of Chongqing Jiaotong University(Natural Science), 2016, 35(2): 174-178.
[7]	Pan Songyan, Su Jian, Gong Haibin, Wang Xingyu, Lu Haige, Zhang Yirui. Vibration Characteristic Analysis of Frame-Mounted Driving Device for High-Speed Train [J]. Journal of Chongqing Jiaotong University(Natural Science), 2015, 34(2): 152-155.
[8]	Guo Lina，Xue Nianwen，Pan Jian. Simulation Analysis on the Effect of Trailer Arm Suspension on the Steady Turning Characteristics [J]. Journal of Chongqing Jiaotong University(Natural Science), 2013, 32(3): 506-510.
[9]	Yi Yanli，Cao Yuanwen. Dynamic Analysis of Trebling-Pivot Vehicle on Undulate Pavement [J]. Journal of Chongqing Jiaotong University(Natural Science), 2012, 31(5): 1007-1009.
[10]	Huang Xuejiao, Cao Yuanwen, Li Shifeng. Simulation Analysis on Dynamic Loads of Heavy-Duty Semitrailer Model Based on ADAMS [J]. Journal of Chongqing Jiaotong University(Natural Science), 2012, 31(1): 128-132.
[11]	YIN Shi-rong，JIA Yong-qing，YIN Xin-xian. On Dynamics of Aerial Work Platform Lifting Booms Based on ADAMS [J]. Journal of Chongqing Jiaotong University(Natural Science), 2011, 30(5): 1031-1034.
[12]	CHEN Yang，ZHU Mao-tao，QIN Shao-jun. Co-simulation of Vehicle Roll Stability Based on the Fuzzy Control [J]. Journal of Chongqing Jiaotong University(Natural Science), 2011, 30(5): 1039-1043.
[13]	XUE Nian-wen，PAN Jian，SHI Bing-liang，ZHOU Kong-kang. Influence Analysis on Roll Movement Due to Guide Mechanism of Hard Off-Road Vehicle [J]. Journal of Chongqing Jiaotong University(Natural Science), 2011, 30(1): 141-146.
[14]	ZHOU Jun, DU Zi-xue. Development?of?Automobile?Braking?Analysis?Module?Based?on?ADAMS [J]. Journal of Chongqing Jiaotong University(Natural Science), 2009, 28(5): 948-951.
[15]	MA Yu-kun, JIA Ce, LUAN Yan-long, HU Zhi-guo. ADAMS and the application of it in the dynamic simulation analysis of automobiles [J]. Journal of Chongqing Jiaotong University(Natural Science), 2004, 23(4): 110-113.

Multi-Body Dynamics Model Building of Self-Balancing Dual-Wheeled Vehicle Using ADAMS and MATLAB

基于ADAMS与MATLAB自平衡双轮车混合模型建模

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics