基于自抗扰控制的两轮自平衡车控制系统仿真研究

Design of the control system of the manned electric unicycle based on active disturbance rejection control

为解决两轮自平衡车因不同用户身高体重的差异造成系统模型不准确而带来控制器对系统控制稳定性能差的问题,将自抗扰控制技术运用到两轮自平衡车运动平衡控制中。首先采用拉格朗日方法建立两轮自平衡车动力学模型,然后针对系统的特性推导出实现两轮平衡车自平衡控制的自抗扰控制器控制律。最后,搭建两轮自平衡车控制系统的Simulink仿真平台,分别采用线性自抗扰控制和经典自抗扰控制方法进行了试验比较。试验结果表明:与经典自抗扰控制器相比,新的自抗扰控制器能够较好地适应身高体重变化的环境,较好地自主达到稳定运行状态。

In order to solve the problem that the stability of two-wheeled self-balancing vehicles is poor because of different height and weightbetween diferent controllers so that the system model is not accurate, the active disturbance two-wheeled self-balancing vehicle movement balance control. First of all, two-wheeled self-balancing vehicle dynamics model is establishedwith the Lagrange algorithm. Then the control law of tlie active disturbances rejection controller is derived from the characteristics of the systemachieving two-wheeled balancing vehicle balance. Finaiy, the Simulink simulation platform of two-wheeled self-lDalancing vehicle control sys-tem is built and the classical auto-disturbance rejection control and the active disturbance rejection control metliods adopted are compared. The application results show that compared with the classical auto-disturbance rejection controller, the ADRC could better adapt the height and weight changing environment, which can reach independently a steady running state.