多回路PID控制下的两轮平衡车系统设计  

Design of Two- Wheeled Balance Car System Under Multi- Loop PID Control

作　　者：刘泽伟 冯靖靖 李婉钰 赵倩 LIU Zewei;FENG Jingjing;LI Wanyu;ZHAO Qian(College of Engineering,Qufu Normal University,Rizhao 276826,China;College of Computer Science,Qufu Normal University,Rizhao 276826,China)

机构地区：[1]曲阜师范大学工学院,山东日照276826 [2]曲阜师范大学计算机学院,山东日照276826

出　　处：《自动化仪表》2022年第11期19-23,28,共6页Process Automation Instrumentation

基　　金：国家大学生创新创业训练基金资助项目(202110446162)。

摘　　要：为解决两轮平衡车的传统比例积分微分(PID)控制稳定性差、高速循迹难的问题,设计了以角速度环为主回路的多串级PID控制器。将速度环串入直立双环,进而将对两者的间接控制转化为对角速度的控制,可有效消除变量间的耦合。为提升平衡车姿态角检测中的精度,采用卡尔曼滤波进行角速度和加速度的数据融合。试验结果证明,该算法在动态环境下的精度较高。考虑到PID参数调节费力耗时的问题,利用云端手机编程环境(APP Inventor)进行手机APP开发。手机蓝牙与系统进行主从一体式通信,规避了系统控制器端参数需重复调试的问题。经过实际调试后,系统在平衡维持和循迹方面的抗干扰能力良好、响应迅速,同时速度提升后的转向稳定性未受影响。To solve the problems of poor stability and difficult high-speed tracking of the traditional proportional integral differential(PID) control of two-wheeled counterbalanced bicycle, a multi-series PID controller with the angular velocity loop as the main loop is designed. The velocity loop is cascaded into the upright dual loop, and then the indirect control of both is transformed into the control of angular velocity, which can effectively eliminate the coupling between variables.To improve the accuracy in the posture angle detection of the counterbalanced vehicle, Kalman filtering is used for the data fusion of angular velocity and acceleration.The experimental results prove the high accuracy of the algorithm in the dynamic environment. Considering the problem of laborious and time-consuming PID parameter adjustment, the cloud-based cell phone programming environment(APP Inventor) is used for cell phone APP development, and the Bluetooth of cell phone is used for master-slave communication with the system, which circumvents the problem of repeated debugging of the parameters at the controller side of the system. After actual debugging, the system has good anti-interference ability and rapid response in balance maintenance and traction, while the steering stability is not affected after speed increase.

关 键 词：平衡车 六轴惯性测量单元 卡尔曼滤波 多回路比例积分微分 虚拟示波器 手机APP 

分 类 号：TH-39[机械工程]