基于卡尔曼滤波和双闭环PID控制的平衡车控制系统设计

Design of Control System for Balanced Vehicle based on Kalman Filte and Double Closed Loops PID Control

本文设计了基于卡尔曼滤波和双闭环PID控制的平衡车控制系统。在系统硬件上,完成了以STM32为控制核心的控制系统硬件结构设计;在软件设计上,利用卡尔曼滤波技术提高了平衡车相对于灵敏轴的倾角的计算精确度,同时采用双闭环PID控制算法,提高了平衡车运行的稳定性;通过系统调试和分析获得适合平衡车运行的各项系统参数,实际运行结果表明,该平衡车能保持平稳运动,具有较强的适应性和稳定性。

This paper designs the control system for balanced vehicle based on Kalman filte and double closed loops PID control.In the design of hardware, the STM32 based control core is degined for the control system.In the design of sottware, the Kalman filte is used to improve the calcula- tion accuracy of dip angle between the balanced vehicle and sensitive axis.And the double closed loops PID control is applied to improve the operation stability of balanced vehicle.The system paramaters are obtained through system debugging and analysis.The system operation results show that the designed balanced vehicle can maintain steady motion with good adaptability and stability.