摘要
两轮平衡小车是一种非线性、强耦合、多变量的系统,是检验各种控制方法处理能力的典型装置。在ADAMS与MATLAB软件平台下,应用PID与LQR两种控制算法对两轮平衡小车的控制效果进行研究。研究表明:LQR的控制效果较好,适应性更好。
The self-balanced two-wheel vehicle is a nonlinear, strong coupling and multivariable system. It is also the typical device to test various control methods..The paper did the research on control effects for the self-balanced two-wheel vehicle controlled by LQR and PID using ADAMS and MATLAB. The results show that the LQR strategy is much better than PID algorithm.
出处
《机械工程与自动化》
2011年第6期7-8,10,共3页
Mechanical Engineering & Automation
关键词
两轮平衡小车
PID与LQR
控制算法
仿真
self-balanced two-wheel vehicle
PID ＆ LQR
control algorithm
simulation
