In order to solve the problem of balancing vehicle's driving,we design a model-free PID controller,which avoids model-based modern control's design difficulties.Aimed at improving PID's poor stability and adaptability,this experiment designs a fuzzy PID controller with displacement as its feedback.According to its physic construction,the mathematical modeling for the self-balanced vehicle is established and the stability analysis of its State space is conducted.The fuzzy PID control of this experiment is a combined intelligent control strategy based on fuzzy logic and PID.In the traditional PID control,a difficult task is to determine the parameters of the controller.Moreover,once the parameters are determined,it is difficult to reset them again.Therefore,the experiment finds a good way to update the weight of the PID-Kp,Ki,and Kd,with the help of the fuzzy logic controller(FLC).Through the Matlab simulation and comparison verification,this experiment obtains the dynamic response and signal tracking of the system under the control scheme of PID and fuzzy PID.Fuzzy PID control has better control result over the PID control strategy:the system adjustment speed has increased by 60%,and the stability has increased by nearly 50% .When the load weight of the balancing vehicle changes,the traditional PID control's unit response fluctuates significantly,while the fuzzy PID control's response is relatively stable.Therefore,the balancing vehicle system under the control of the fuzzy PID control achieves accurate displacement tracking control under different load weight,which meets the control requirements of balancing vehicle more quickly,efficiently and accurately.
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