基于VNS-GA的PID和互补滤波控制的自平衡车姿态解算

Self-balancing vehicle attitude solution calculation controlled by the complementary filter and the PID based on VNS-GA

自平衡车的姿态主要靠传感器来感知,通过传感器感知的角速度和加速度数据自动调整自平衡车的姿态角,从而维持其平衡.采用三轴陀螺仪和三轴加速度计分别采集自平衡车的角速度和加速度,通过互补滤波方法,对2种传感器采集到的数据进行融合,降低噪声和误差;然后,采用本文提出的融合变邻域搜索的遗传算法(VNS-GA)对PID控制器的3个参数进行寻优,从而对互补滤波方法获得的角度进行自适应调整,最终得到较精确的姿态角.为了验证基于VNS-GA的PID控制方法的性能,分别使用基于GA的PID控制方法和基于VNS-GA的PID控制方法来解算自平衡车的姿态角.实验结果表明:基于VNS-GA的PID控制方法得到的姿态角更接近于真实值,性能更好.

The attitude of the self-balancing vehicle is mainly perceived by the sensor.The attitude angle of the self-balancing vehicle is automatically adjusted through the angular velocity and acceleration data perceived by the sensor to maintain its balance.In this paper,tri-axis gyroscope and tri-axis accelerometer are used to collect the angular velocity and acceleration of self-balancing vehicle respectively.Through the complementary filtering method,the data collected by the two sensors are used to reduce noise and error.And then,the GA based on variable neighborhood search(VNS-GA)proposed in this paper is used to optimize the three parameters of the PID controller,and then the angle obtained by the complementary filtering method is adaptive adjusted by the PID to obtain a more accurate attitude angle.In order to verify the performance of the PID control method based on VNS-GA,the PID control method based on GA and the PID control method based on VNS-GA are respectively used to calculate the attitude angle of the self-balancing vehicle.The experimental results show that the attitude angles obtained by PID control method based on VNS-GA is more closer to the real values and has better performance.