一种双轮小车的自平衡运动控制系统  

Two-Wheeled Vehicle Self-Balancing Motion Control System

作　　者：齐光景 谢刚[1] 柳英杰[1] 

机构地区：[1]太原理工大学信息工程学院,山西太原030024

出　　处：《计算机仿真》2014年第4期212-218,222,共8页Computer Simulation

基　　金：人社部留学回国人员科技活动择优资助项目(2013-68);山西省人社厅留学回国人员科技活动择优资助项目(2013-69)

摘　　要：研究双轮自平衡小车控制的优化问题,由于双轮小车运行不稳定和具有非线性、强耦合等特性,无法准确建立数学模型,传统控制理论已不能很好的满足实际控制要求,为了解决双轮小车高速稳定运行的问题,在考虑了被控对象的特性同时又兼顾了实际工程应用的基础上,建立了系统动力学模型并进行了特性分析,提出一种模糊-PI复合控制方法。上述方法对双轮小车的倾斜角度和速度分别设计了模糊控制器和Pl控制器,通过小车的速度控制仿真和抗干扰特性仿真,结果表明,所设计的模糊-PI控制器能够保证双轮自平衡小车的高速稳定运行,改进方法不仅抗干扰性强,动态品质好,而且结构简单,易实现,具有很好的工程实用价值。Research the two wheeled self balancing car control optimization problem. For two wheeled vehi cles are of instability, nonlinear, strong coupling and other characteristics, and unable to establish its mathematical model accurately. It is difficult for traditional control theory to meet actual control requirements well. In order to solve the problem of two wheeled vehicle high speed stable operation, on the basis of considering the characteris tics of the controlled object and combining the practical engineering application, we established a system dynamics model and analyse the characteristic, put forward the Fuzzy PI composite control scheme which designs the fuzzy controller and PI controller on the angle and speed of the car. By the vehicle＇s speed control simulation experiment and anti jamming characteristic simulation experiment, the simulation results show that the designed fuzzy PI con troller can guarantee the two wheeled self balancing vehicle high speed and stable operation. This method is of strong anti interference, good dynamic quality, and simple structure, easy implementation, has good engineering practical value.

关 键 词：双轮小车 模糊控制 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]