纵向双轮平衡车滑模控制设计与仿真

Design and Simulation of Sliding Mode Control for Longitudinal Two Wheel Balance Vehicle

纵向双轮自平衡车结构上与自行车结构相同,因而具有相似的动力学特性。自行车的结构属于一个非最小相位系统,因而在控制的过程中存在着一定的困难。为了更好地控制平衡车的平衡,通过引入一个基于趋近律的滑模鲁棒控制律来对小车的平衡姿态进行控制,并将滑模控制的结果与传统PID控制器以及模糊PID控制器进行比较,验证滑模控制律的优越性能。

The structure of longitudinal double wheel self-balancing vehicle is the same as that of bicycle,so it has similar dynamic characteristics.The structure of bicycle belongs to a non-minimum phase system,so there are some difficulties in the con-trol process.In order to better control the balance of the balance vehicle,a sliding mode robust control law based on reach-ing law is introduced to control the balance attitude of the vehicle.The results of sliding mode control are compared with the traditional PID controller and fuzzy PID controller to verify the superior performance of the sliding mode control law.