自平衡车的电流环串级PID控制设计

Current Loop Cascade PID Control Design of Self-balanced Vehicle

为了解决两轮自平衡电动车用传统占空比控制无法实现对转矩的精确控制问题,本文采用飞思卡尔微处理器MK60DN512ZVLQ10,卡尔曼滤波算法获取车身倾角实时最优值,基于电流环的串级PID控制来调节直流电机。电流传感器精度能达到1%左右,系统受扰动后,此方法调节时间更短、超调量更小、鲁棒性更强。实验结果表明,直接转矩控制在快速性、稳定性和抗扰性等方面明显优于传统占空比控制。

In order to solve the problem that the traditional duty cycle control of two-wheeled self-balancing electric vehicle can not realize the accurate control of torque, the design uses MK60DN512ZVLQ10 as the core, the real-time inclination angle of vehicle body is ob- tained by kalman filter algorithm,the loop cascade PID control is used to regulate the DC motor.The accuracy of the current sensor can reach about 1%, when the system is disturbed, this method has the shorter settling time, the smaller overshoot and the stronger robust- ness.So the direct torque control is superior to conventional duty control in terms of fastness, stability and immunity.