双闭环PID控制的两轮平衡小车设计与实现

Design and implementation of two-wheeled balancing vehicle with double closed loop PID control

针对多变量、强耦合、高度不稳定,非线性的两轮平衡小车控制问题进行了研究,采用双闭环PID控制算法对小车进行了控制。角度环采用PD控制算法,速度环采用PI控制算法,速度环弥补了角度环控制的不足。系统利用超声波检测回来的小车与物体的距离,通过区间判断来叠加或减小一个固定值控制PWM脉冲的占空比,增加系统的响应速度。搭建了两轮平衡小车样机,通过系统的软硬件设计、调试及运行情况,验证了双闭环PID控制算法的有效性,实现了小车稳定平衡控制。

The control problem of two-wheeled balancing vehicle with multi variable,strong coupling,high instability and nonlinearity was studied.The vehicle was controlled by double closed-loop PID control algorithm,where PD control algorithm was used in angle loop while PI control algorithm was used in speed loop,and the speed loop compensated the deficiency of angle loop control.The ultrasonic wave was used to detect the distance between the vehicle and the object by the system to stack or reduce a fixed value to control the duty cycle of PWM pulse and increase the response speed of the system.The prototype of the two-wheeled balancing vehicle was built.Through the design,debugging and operation of the software and hardware of the system,the effectiveness of the double closed-loop PID control algorithm was verified,and the vehicle could realize the balance control stably.