基于双闭环PID控制的自平衡两轮车的仿真研究

Simulation of Self-Balancing Two-Wheeled Vehicle Based on Double Closed-Loop PID Control

自平衡两轮车作为一种新型轮式移动机器人已经逐渐渗透到各行各业中.相较于传统自平衡系统,自平衡两轮车系统复杂度更高、控制要求也更高,不仅要完成基本的平衡控制,还要同时实现对速度与方向的控制.为解决这一问题,以自平衡两轮车为研究对象,具体分析了被控对象的机理结构,对其建立了基于拉格朗日方程的数学模型,对数学模型进行了详细的理论推导,并在MATLAB/Simulink仿真平台进行了详细的仿真验证.针对系统模型设计了基于反馈校正策略的双闭环PID控制系统,进行了详细的理论分析,阐述了设计方案,并对设计方案进行了详细的仿真实验测试.实验结果表明:基于反馈校正策略的双闭环PID控制系统具有良好的鲁棒性、抗干扰性和动态性能,其各项性能均能满足设计要求,可以较好地实现平衡和移动控制.该方法具有一定的实践价值,并为后续研究打下基础.

As a new type of wheeled mobile robot,self balancing two wheeled vehicle has gradually penetrated into all walks of life.Compared with the traditional self balancing system,the self balancing two wheeled vehicle system has higher complexity.The control requirements are also higher:not only the basic balance control should be completed,but also the speed and direction control should be realized at the same time.In order to solve this problem,taking the self balancing two wheeled vehicle as the research object,the mechanism structure of the controlled object is analyzed in detail,the mathematical model based on Lagrange equation is established,the mathematical model is deduced in detail,and the simulation is verified in MATLAB/Simulink simulation platform.A double closed-loop PID control system based on the feedback correction strategy is designed according to the system model,and the theoretical analysis and design method are described in detail,and the design scheme is tested by the simulation experiment in detail.The experimental results show that the double closed-loop PID control system based on the feedback correction strategy has good robustness,anti-interference and dynamic performance.Its performance can meet the design requirements,and can better balance and movement control.This method has a certain practical value and lays a foundation for further research.