基于滑膜干扰抑制的两轮小车自平衡控制算法

新型滑板两轮小车在野外作业和城市道路巡逻等方面具有重要的应用价值，对两轮小车自平衡控制保证小车稳定可靠性运行的关键。由于两轮小车的轮动控制系统是一个多输入多输出的非线性强耦合系统，在不平稳道路中容易产生抖振。在常规的滑膜控制的基础上，引入一个非线性滑模切换面误差跟踪项，通过滑膜干扰抑制抖振，提出一种基于滑膜干扰抑制的两轮小车自平衡控制算法。构建了两轮小车的运动状态方程和平衡控制参量分析模型，通过非线性滑模切换面误差跟踪进行滑膜自平衡控制律设计，加入非线性取代积分项补偿小车抖振，提高小车平衡控制系统的鲁棒性。仿真结果表明，采用该控制算法对两轮小车进行自平衡控制过程中，具有较好的平衡性能，输出的姿态误差减少，小车的稳定性较好，实现了对两轮小车的自平衡控制和调节，且调节作用是长期，持续的，有效保障了两轮小车的稳定运行。

Self balancing control algorithm of two wheeled vehicle based on inhibition of synovial interference

The new type of two wheeled car in the field work and urban road patrol has important application value ,the two wheeled vehicle self balancing control to ensure the stability of the car is the key to stable operation .As a result of the two wheel drive control system is a multi input multi output nonlinear strong coupling system ,in the unstable road prone to shake .On the basis of conventional synovial control ,a nonlinear sliding mode switching surface error tracking is introduced ,and a two wheeled self balancing control algorithm is proposed ,which is based on the suppression of the interference of the synovial membrane .The motion state equation and equilibrium control parameter analysis model of two wheeled vehicle was constructed .The model of the control law was designed by nonlinear sliding mode control law , and the nonlinear integral compensation was added to compensate the car chattering and improve the robustness of the car balance control system .Simulation results show that the proposed control algorithm has good performance in balancing the two wheeled vehicle ,the output of the attitude error is reduced ,the stability of the car is better ,and the self balancing control and regulation of two wheeled vehicle is realized .