双轮自平衡车的双闭环式PID控制系统设计与实现

Double Closed Loop PID Control System for Two-Wheel Self-Balancing Vehicle

双轮自平衡车是一种集环境感知、规划决策、自主驾驶等功能为一体的综合性系统。提出了一种双闭环式PID控制系统实现双轮自平衡车的控制。针对传统的PID控制算法的缺陷,该系统引入了双闭环式PID改进平衡车的控制算法。同时对平衡车的硬件系统与软件控制系统进行了设计、实现与分析。实验表明:所提出的控制系统是有效可行的,提高了平衡车的稳定性和动态响应性。

This paper presents a double closed-loop PID control system to achieve the control of two-wheel self-balancing vehicle.Aiming at the shortcomings of traditional PID control algorithm,this paper introduces the control algorithm of double closed-loop PID to improve the balance car,and designs,realizes,analyzes the hardware system and software control system of the balancing car.