Design of Two-wheel Self-balancing Vehicle Based on LQR Control
In this design,LQR control algorithm is used to realize a two-wheel self-balancing vehicle,and a hardware system is built.In this system,STM32F103RCT6 is the main controller,and MPU6050 module is used for attitude data acquisition,and N10 lidar module is used for measuring distance.Accord-ing to the mathematical model of two-wheel self-balancing vehicle,LQR control algorithm is used to real-ize balance control of vehicle system,and the system is simulated and analyzed using Matlab/Simulink.Finally,it is actually tested on the hardware platform.The test results show that the trolley has diverse functions,stable system operation,anti-interference ability and fast adjustment speed,which has applica-tion and promotion value.
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NSTL
万方数据
维普
