基于LQR控制的两轮自平衡小车设计
Design of Two-wheel Self-balancing Vehicle Based on LQR Control
林寿光1
作者信息
- 1. 湄洲湾职业技术学院(福建 莆田 351119)
- 折叠
摘要
采用LQR控制算法,实现一种两轮自平衡小车的系统设计.搭建了以STM32F103RCT6为主控制器、MPU6050模块为姿态数据采集、N10激光雷达模块为测距的硬件系统.根据两轮自平衡小车的数学模型,利用LQR控制算法实现小车系统的平衡控制,使用Matlab/Simulink进行系统仿真及分析,并在硬件平台上进行实际测试.实验结果表明:小车功能多样、系统运行平稳、抗干扰能力强、调节速度快,具有应用推广价值.
Abstract
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.
关键词
两轮自平衡小车/STM32/LQR控制/Simulink仿真Key words
two-wheel self-balancing vehicle/STM32/LQR control/Simulink simulation引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据