基于LQR控制的两轮自平衡小车设计  

Design of Two-wheel Self-balancing Vehicle Based on LQR Control

作　　者：林寿光[1] LIN Shouguang(Meizhouwan Vocational Technology College,Putian 351119,China)

机构地区：[1]湄洲湾职业技术学院,福建莆田351119

出　　处：《通化师范学院学报》2024年第2期9-17,共9页Journal of Tonghua Normal University

摘　　要：采用LQR控制算法,实现一种两轮自平衡小车的系统设计.搭建了以STM32F103RCT6为主控制器、MPU6050模块为姿态数据采集、N10激光雷达模块为测距的硬件系统.根据两轮自平衡小车的数学模型,利用LQR控制算法实现小车系统的平衡控制,使用Matlab/Simulink进行系统仿真及分析,并在硬件平台上进行实际测试.实验结果表明:小车功能多样、系统运行平稳、抗干扰能力强、调节速度快,具有应用推广价值.In this design,LQR control algorithm is used to realize a two-wheel self-balancing vehicle,and a hardware system is built.In this system,STM32F103RCT6 is the main controller,and MPU6050 module is used for attitude data acquisition,and N10 lidar module is used for measuring distance.Accord-ing to the mathematical model of two-wheel self-balancing vehicle,LQR control algorithm is used to real-ize balance control of vehicle system,and the system is simulated and analyzed using Matlab/Simulink.Finally,it is actually tested on the hardware platform.The test results show that the trolley has diverse functions,stable system operation,anti-interference ability and fast adjustment speed,which has applica-tion and promotion value.

关 键 词：两轮自平衡小车 STM32 LQR控制 SIMULINK仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]