采用改进PID算法的双轮自平衡小车研制  

Design of Two-wheeled Automatic Balance Robot Based on Improved PID Control Algrithm

作　　者：毛欢[1] 张彬彬[1] 黄健[1] 王富东[1] 

机构地区：[1]苏州大学机电工程学院,江苏苏州215021

出　　处：《工业控制计算机》2014年第1期55-56,共2页Industrial Control Computer

摘　　要：针对一个自行制作的双轮自平衡机器人,研究了实现平衡控制与运动控制的方法,并进行了实验验证。控制系统采用的CPU是dsPIC30F4011,通过倾角传感器来检测系统在垂直方向的倾角,采用改进后的PID算法实施控制,利用PWM模块输出配合驱动电路,调整直流电机的运动,能够使系统达到动态平衡。The methods and principle to control a two-wheeled automatic balance robot is studied in this paper,which is tested and verified on a robot.The chip used in this controlling system is dsPIC30F4011.Sensors are used to, detect the vertical angle and then the control signal output is calculated through the improved PID algorithm,This signal out of PWM module of the chip is sent to the motor driver and used to make the system banlanced.

关 键 词：双轮自平衡机器人 PWM控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]