摘要
两轮自平衡小车利用状态反馈法和串级PID控制实现其原地直立。对两轮自平衡车进行建模,通过测量两轮小车的实际物理参数,根据动力学、电气关系建立系统的数学模型,运用设计控制算法来对两轮小车实施控制并通过MATLAB来仿真控制效果。仿真和实验结果表明:基于状态空间表达式的控制器比基于传递函数的控制器有更好的控制效果和鲁棒性。
The standing upright of two wheel vehicle can be realized by state feedback method and cascade PID control. First,according to the physical model of the two wheel vehicle for abstract modeling,through the actual physical parameter of the measured two car, according to dynamics and electrical relationship established mathematical model of the system. In the mathematical model based on,according to the control design theory of control algorithm to control of two wheeled cart and by MATLAB to simulate control effect. The simulation results show that in the two kinds of vertical control method based on state space The expression controller has better control effect and robustness than that based on the transfer function of the controller.
出处
《装备制造技术》
2016年第8期27-30,共4页
Equipment Manufacturing Technology
关键词
自平衡小车
控制
仿真
self-balancing car
control
simulation
