双轮车自平衡运动控制系统

发布时间：2018-02-11 17:48

本文关键词： 双轮车模糊控制运动控制　出处：《山西电子技术》2016年06期 　论文类型：期刊论文

【摘要】：双轮车的自平衡系统是包括各种特性的复杂系统,鉴于传统控制理论对于系统中出现的不稳定和非线性等问题不能够很好的解决,所以在结合了对象的实际应用和理论特性之后对系统进行了建模和做了详细的分析,并提出模糊控制+比例积分(PI)控制混合而成的控制方法。同时对模糊控制和PI控制分别设计了控制器,根据小车特性完成仿真实验,其阶跃和抗干扰等结果说明模糊+比例积分(PI)控制的方法结构简单、实用、抗干扰程度高,其控制器更是能够很好地达到小车运动平衡控制的目标。
[Abstract]:The self-balancing system of two-wheeled vehicle is a complex system with various characteristics. Since the traditional control theory can not solve the problems of instability and nonlinearity in the system, Therefore, after combining the practical application and theoretical characteristics of the object, the system is modeled and analyzed in detail. At the same time, the fuzzy control and Pi control are designed respectively, and the simulation experiment is completed according to the characteristics of the vehicle. The results of step and anti-jamming show that the method of fuzzy proportional integral PI) control is simple, practical and anti-jamming, and the controller can achieve the goal of vehicle motion balance control.
【作者单位】：太原理工大学信息工程学院;
【分类号】：TP23

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