基于串级PID算法的两轮车平衡控制
Balance Control of Two-Wheeled Vehicle based on Cascade PID Algorithm
邱健斌 1陈博文 1严华 1郑佳秋 1张子阳1
作者信息
- 1. 成都工业学院 汽车与交通学院,成都 611730
- 折叠
摘要
采用比例积分微分(PID)算法控制理论,设计两轮车的串级PID算法平衡控制系统,通过计算并输出控制量,控制两轮车的动量轮转动,实现两轮车自主平衡.首先进行理论分析确定原理及可行性,然后对串级PID控制算法进行优化改进,并应用在两轮车平衡控制系统中,提高其控制精度和稳定性.通过在3个层次上调整PID参数,实现两轮车静止平衡状态及运动平衡状态.实验证明,该控制方法能有效解决两轮车平衡控制中存在的响应速度及抗干扰能力需求高等问题,为两轮车平衡控制领域的研究提供新的思路和方法.
Abstract
Based on the PID algorithm control theory,a cascade PID algorithm balance control system for two-wheeled vehicle was designed. By calculating and outputting the control quantity,the momentum wheel rotation of the two-wheeled vehicle was controlled,and the autonomous balance of the two-wheeled vehicle was realized. Firstly,the theoretical analysis was carried out to determine the principle and feasibility,and then the cascade PID control algorithm was optimized and improved,and applied in the balance control system of two-wheeled vehicle to improve its control accuracy and stability. By adjusting the PID parameters at three levels,the static balance state and the motion balance state of the two-wheeled vehicle were realized. The experimental results prove that this control method can effectively solve the problems of high response speed and anti-interference ability in the balance control of two-wheeled vehicle,and provide a new idea and method for the research of balance control of two-wheeled vehicle.
关键词
平衡控制/串级PID算法/两轮车Key words
balance control/cascade PID algorithm/two-wheeled vehicle引用本文复制引用
出版年
2024
NETL
NSTL
万方数据