基于竞赛自平衡小车的双闭环控制设计与仿真研究

Design and Simulation Study of Double Closed-loop Control base on Self-Balancing Robo Competition

针对具有多变量、不稳定、非线性特性的自平衡小车系统,提出了一种基于偏角伺服控制与LQR控制相结合的双闭环控制方法。在该方法中,先根据系统的等效模型,采用LQR方法控制自平衡小车的倒立平衡,采用伺服控制进行偏角跟随控制。并且在设计过程中,先保证自平衡小车的倒立平衡,然后再进行伺服控制,运行中两个闭环实时控制,达到使小车倒立快速寻迹运行。数字仿真结果与理论分析基本一致,表明了该方法的可行性。

This paper is to demonstrate a double closed-loop approach base on LQR control and servo control for the self-balancing robot system with multi-variable, unsteady and nonlinear characteristic. In this approach, according to the equivalent model of control system ,use LQR control method to regulate inverted balance of the self-balancing robot, and make use of servo control to follow the competition track. And in the design process, the first ensure the car inverted balance, and then run servo control, two closed-loop real lime control to make the car fast tracing running base on inverted balance of the robot in service. The digital simulation results is in line with theory analysis .and show that this method is effective. Thus it should be of interest to control method.