基于切换PID的无人自行车的平衡控制

Balance Control of Unmanned Bicycle Based on Switched PID

为实现无人自行车直线行走,并设计一种便于工程实现的平衡控制器。受人驾驶自行车的经验启发,提出一种切换PID控制方法。该方法根据车体的倾斜角和倾斜角速度进行控制器切换,首先根据倾斜角速度调整车把转角,使车体倾斜角速度为零。然后根据倾斜角反向转动车把,使车体倾斜角恢复为零。如此通过两个PID控制器的切换来实现无人自行车的平衡控制。仿真和样机实验结果表明了该方法的有效性和工程实用性,可为无人自行车自平衡控制的工程实现提供参考。

In order to realize balance control of straight line walking of unmanned bicycle,a balance controller is designed for engineering implementation.Inspired by the experience of people riding bicycles,a switched PID control method is proposed.The controller is switched according to the roll angle and the roll rate of the bicycle.Firstly,the angle of the handlebar is adjusted according to the roll rate,so that the roll rate of the bicycle is restored to zero.Then,reversing handlebar according to the roll angle,so that the roll angle of the bicycle is restored to zero.Thus,the balance control of the unmanned bicycle is realized by switching the two PID controllers.The simulation and prototype experiments show the effectiveness and engineering practicability of the proposed method,which can provide reference for the engineering realization of unmanned bicycle balance control.