自平衡系统的双环算法研究

Research on double-loop algorithm for self-balanced system

本文阐述了单环PID与串级PID的数学表达与其各个参数对自平衡系统的调节作用,和如何整定出合适的参数值。由于获取到准确的自平衡系统状态是调节的基础,本文也对常用的卡尔曼滤波算法进行了简单的叙述。

In this paper, the mathematical expression of single-loop PID and cascaded PID and the regulating effect of each parameter on the self-balancing system are described, and the way of the adjustment to these value combined parameters are also discussed. Because obtaining the accurate state of self-balancing system is the basis of adjustment, this paper also gives a simple description of the Kalman filter algorithm that is commonly used.