无人自行车的线性二次型调节侧向平衡控制器设计与分析

Design and Analysis of Linear Quadratic Regulator Lateral Balance Controller for Unmanned Bicycle

针对一种无机械平衡调节装置的无人自行车,采用分段LQR(linear quadratic regulator,线性二次型调节器)控制方法研究无人自行车侧向平衡控制问题。引入无人自行车变参数线性(variable parameter linear,LPV)力学模型,采用LQR控制方法设计无人自行车侧向平衡运动的控制器,对驱动速度划分区间,建立反馈增益查找表,对无人自行车侧向平衡运动进行数值仿真和物理样机实验研究,对比四种驱动速度下与四种质量负载下控制效果,分析LQR控制器对侧向平衡运动控制的性能。结果表明:LQR控制方法下的无人自行车在四种驱动速度和四种质量负载条件下均能实现侧向平衡运动,且车架受到外界干扰时,具有一定的克服外界干扰实现侧向平衡运动的能力。研究结果可为无人自行车实现侧向平衡运动的控制方法提供一定的参考。

Aiming at an unmanned bicycle without mechanical balance adjustment device,the piecewise LQR(linear quadratic regulator)control method is used to study the lateral balance control of unmanned bicycle.The linear variable parameter varying(LPV)mechanical model of unmanned bicycle is introduced,the LQR control method is used to design the controller of lateral balance motion of the unmanned bicycle,the driving speed is divided into intervals,the feedback gain look-up table is established,and the numerical simulation and physical prototype experiment of lateral balance motion of the unmanned bicycle are carried out.The performance of the LQR controller for lateral balance motion control under four driving speeds and four mass loads are analyzed.The results show that the unmanned bicycle under LQR control method can realize lateral balance movement under four driving speeds and four mass loads.It also has the ability to overcome external interference and realize lateral balance movement.The research results can provide some reference for the control method of lateral balance movement of unmanned bicycle.