基于串级PID的自行车机器人侧向平衡控制设计与分析  

Design and Analysis of Lateral Balance Control of Bicycle Robot based on Cascade PID

作　　者：郑佳秋 罗阳 周名全 邱健斌 ZHENG Jiaqiu;LUO Yang;ZHOU Mingquan;QIU Jianbin(School of Automobile and Transportation,Chengdu Technological University,Chengdu 611730,China)

机构地区：[1]成都工业学院汽车与交通学院,成都611730

出　　处：《成都工业学院学报》2025年第2期9-13,共5页Journal of Chengdu Technological University

基　　金：成都工业学院科研项目(2023YB028);四川省大学生创新训练计划项目(202411116012)。

摘　　要：为了使自行车机器人能通过惯性飞轮达到侧向平衡,对其侧向平衡受力进行分析,结合分析结果和串级比例积分微分(PID)控制策略,设计自行车机器人侧向控制器,并搭建仿真平台和实物样机,完成仿真和实验验证。首先简化自行车模型,分析自行车侧向平衡模型,设计了利用惯性飞轮来平衡侧向倾倒力矩。其次,基于串级PID控制器策略和侧向平衡原理,设计基于串级PID的侧向平衡控制器,然后利用Simlink软件平台搭建仿真系统,对提出的控制策略进行仿真分析。仿真结果表明,所设计的平衡控制器能够达到自行车平衡。最后,通过样机实验验证了控制算法在实际应用中的有效性,能够使得自行车机器人获得侧向平衡控制能力。In order to enable the bicycle robot to achieve lateral balance through the inertial flywheel,the lateral balance force of the bicycle robot was first analyzed.Combined with the analysis results and cascade PID control strategy,the lateral controller of the bicycle robot was designed,and the simulation platform and prototype were built to complete the simulation and experimental verification.Firstly,the bicycle model was simplified,the bicycle lateral balance model was analyzed,and the inertia flywheel was designed to balance the lateral tipping moment.Secondly,based on cascade PID controller strategy and lateral balance principle,a lateral balance controller based on cascade PID was designed.Then,simlink software platform was used to build a simulation system,and the proposed control strategy was simulated and analyzed.The simulation results show that the designed balance controller can achieve bicycle balance.Finally,the effectiveness of the control algorithm in practical application is verified by the prototype experiment,which can make the bicycle robot obtain the lateral balance control ability.

关 键 词：串级PID控制器 自行车机器人 平衡控制 Simlink仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]