基于LQG控制的电动平衡车控制研究  

Research on control of electric balance vehicle based on LQG control

作　　者：徐晓东[1] XU Xiaodong(School of Mechanical Engineering,Shanghai University of Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海市200093

出　　处：《农业装备与车辆工程》2023年第6期108-112,共5页Agricultural Equipment & Vehicle Engineering

摘　　要：针对电动平衡车的自身平衡控制,提出采用基于最优控制理论和卡尔曼滤波算法,设计了线性高斯二次型控制器对其进行控制。首先对左右车轮和车体框架分别进行建模,建立电动平衡车系统的非线性动力学方程;然后,通过几何关系将非线性方程线性化,得到系统的状态空间方程,通过证明线性系统的可控性和可观性,设计最优二次型线性调节器和最优状态估计器来得到控制器;最后,使用进行电动平衡车控制系统仿真分析。设计的控制器能有效控制电动平衡车自平衡,验证了该控制策略的有效性和可行性。Aiming at the self-balancing control of electric balancing vehicle,a Linear Quadratic Gaussian(LQG)controller was designed based on optimal control theory and Kalman filter algorithm.Firstly,the left and right wheels and the body frame were modeled respectively,and the nonlinear dynamics equation of the electric balancing vehicle system was established.Then,the nonlinear equation was linearized by geometric relations,and the state space equation of the system was obtained.By proving the controllability and observability of linear system,optimal Quadratic Linear Regulator(LQR)and optimal state estimator were designed to obtain LQG controller.Finally,MATLAB/Simulink was used to simulate and analyze the control system of electric balancing vehicle.The designed LQG controller can effectively control the self-balancing of electric balancing vehicle.The effectiveness and feasibility of the control strategy are verified.

关 键 词：电动平衡车 LQR控制 卡尔曼滤波 LQG控制 

分 类 号：U489.03[交通运输工程—载运工具运用工程]