无速度平衡自行车的积分分离PID控制算法仿真

Simulation of Integral Separation PID Control Algorithm for Speed-Free Balanced Bicycle

为了高精度的对无速度平衡自行车进行控制,需要对无速度平衡自行车的控制算法进行研究。采用当前算法控制无速度平衡自行车时,不能有效的去除传感器采集信号中存在的噪声,控制过程中的方位误差较大,存在信噪比低和控制精准度低的问题。提出一种无速度平衡自行车的积分分离PID控制算法,采用卡尔曼滤波对无速度平衡自行车中陀螺仪和倾角计采集得到的信号进行互补滤波,去除信号中存在的噪声,得到无速度平衡自行车的姿态信号。根据无速度平衡自行车的姿态信号得到无速度平衡自行车在控制过程中的方位误差,通过积分分离PID控制算法消除控制过程中的静差,得到无速度平衡自行车的控制规律,完成无速度平衡自行车的控制。仿真结果表明,所提方法的信噪比高、控制精准度高。

In order to control the speed-free balance bicycle with high precision,this article puts forward an algorithm of integral separation PID control for speed-free balance bicycle.Firstly,Kalman filter was applied to the complementary filtering of signals collected by the gyroscope and the inclinometer of speed-free balance bicycle,so as to remove the noise in signal and obtain the attitude signal of speed-free balance bicycle.According to the attitude signal of speed-free balance bicycle,the azimuth error of speed-free balance bicycle during the control was obtained.Then,the integral separation PID control algorithm was used to eliminate the steady-state error in the control process.Meanwhile,the control law of speed-free balance bicycle was obtained.Thus,the control of speed-free balanced bicycle was completed.Simulation results show that the proposed method has high signal-to-noise ratio and high control precision.