摘要
针对自平衡车的平衡方法和姿态参数测量问题,利用空间旋转的旋转轴和旋转角度—四元数计算姿态角,采用串级PID控制方法研究自平衡车平衡参数,给出平衡车中各平衡参数的测定实验方法,内环采用增量式PI控制,外环采用位置式PD控制,测量得出最佳内环、外环平衡参数和零点漂移值。自主搭建软硬件平衡试验模型,在K60上实现各方法。实验表明,通过对平衡姿态参数的测定实验,利用四元数、串级PID控制方法设计的自平衡车能够保持平衡。
Aiming at the balance method and attitude parameter measurement of self-balancing module,the rotation angle and rotation angle of space rotation-the quaternion are used to calculate the attitude angle,and the cascade PID control method is used to study the balance parameters of the self-balancing vehicle.Experimental method for determining parameters and optimal balance parameters are decided.Independently set up a balance test system to implement each method on the K60.Experiments show that the self-balancing vehicle designed by quaternion and cascade PID control method can maintain balance by measuring the equilibrium attitude parameters.
作者
刘高华
冯礼群
李昌禄
郑泽
孟龄欣
LIU Gaohua;FENG Liqun;LI Changlu;ZHENG Ze;MENG Lingxin(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;School of Microelectronics,Tianjin University,Tianjin 300072,China)
出处
《实验室科学》
2021年第1期11-15,共5页
Laboratory Science
基金
2018年广州市科技计划重大专项(项目编号:201802020008)。