基于自适应云模型的平衡车控制系统研究  

Study on Balance Vehicle Control System Based on Adaptive Cloud Model

作　　者：姚炜[1] YAO Wei(Wuxi Mechanical and Electric Institute,Jiangsu Union Technical Institute,Wuxi 214028,China)

机构地区：[1]江苏联合职业技术学院无锡机电分院,江苏无锡214028

出　　处：《常州信息职业技术学院学报》2018年第3期24-27,共4页Journal of Changzhou College of Information Technology

基　　金：江苏省职业技术教育学会2017-2018年度职业教育研究课题"五年制高职校智慧车间建设研究"(XHXS2017001);无锡机电高等职业技术学院2018年度立项课题"一种平衡车紧急保护装置的研究"(2018-JD04)

摘　　要：为了提高平衡车转速控制的精度,设计了一种基于自适应云模型的平衡车控制系统。首先详细分析了平衡车动力模型以及自适应云模型结构,并在此基础上制订了云模型的控制规则,然后结合自适应算法设计了平衡车自适应云模型转速控制器,最后搭建了基于自适应云模型控制算法的平衡车实验平台。实验结果表明,提出的平衡车自适应云模型控制算法精度高、性能稳定。In order to improve the precision of the speed control of the balance vehicle, a balanced vehicle control system based on adap- tive cloud model is designed. This paper first analyzes the dynamic model of the balance car and adaptive cloud model structure. Then, it explains control rules of cloud model, and designs the balance car speed controller with adaptive cloud model adaptive algorithm. Finally, the balance car experiment platform based on cloud model adaptive control algorithm is built. The experimental results show that the proposed adaptive balance car cloud model control algorithm is of high precision and stable performance.

关 键 词：平衡车 云模型 自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]