基于PID算法的平衡车控制系统研究

Research on Control System of Balancing Vehicle Based on PID Algorithm

基于对PID控制技术平衡倒立摆装置的研究,建立了倒立摆数学模型,分析了平衡车的控制原理并得到传递函数;搭建了PID控制的仿真系统,当外力作用于小车时,只需适当调整比例、积分和微分的值,即可使小车恢复平衡状态。仿真结果表明,小车会明显抖动,但抖动时间非常短,随即进入平衡状态,达到了预期效果。

Based on the research on PID control technology for balancing inverted pendulum devices,a mathematical model of the inverted pendulum is established,the control principle of the balancing vehicle is analyzed,and the transfer function is obtained.A simulation system for PID control is built.When external forces act on the small car,it is only necessary to adjust the proportional,integral,and differential values appropriately to restore the balance of the car.The simulation results show that the small car will significantly shake in a short time,and immediately enters a balanced state to achieve the expected effect.