| 基于PID与LQR的两轮平衡小车控制算法的仿真研究 |
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| 引用本文： | 李洋,梁义维. 基于PID与LQR的两轮平衡小车控制算法的仿真研究[J]. 机械工程与自动化, 2011, 0(6): 7-8,10 |
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| 作者姓名： | 李洋 梁义维 |
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| 作者单位： | 太原理工大学机械工程学院,山西太原,030024 |
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| 摘 要： | 两轮平衡小车是一种非线性、强耦合、多变量的系统,是检验各种控制方法处理能力的典型装置。在ADAMS与MATLAB软件平台下,应用PID与LQR两种控制算法对两轮平衡小车的控制效果进行研究。研究表明:LQR的控制效果较好,适应性更好。
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| 关 键 词： | 两轮平衡小车 PID与LQR 控制算法 仿真 |
Simulation Research on Self-balanced Two-wheel Vehicle Control Algorithm Based on PID and LQR |
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| LI Yang,LIANG Yi-wei. Simulation Research on Self-balanced Two-wheel Vehicle Control Algorithm Based on PID and LQR[J]. Mechanical Engineering & Automation, 2011, 0(6): 7-8,10 |
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| Authors: | LI Yang LIANG Yi-wei |
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| Affiliation: | LI Yang,LIANG Yi-wei(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan 030024,China) |
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| Abstract: | The self-balanced two-wheel vehicle is a nonlinear,strong coupling and multivariable system.It is also the typical device to test various control methods.The paper did the research on control effects for the self-balanced two-wheel vehicle controlled by LQR and PID using ADAMS and MATLAB.The results show that the LQR strategy is much better than PID algorithm. |
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| Keywords: | self-balanced two-wheel vehicle PID & LQR control algorithm simulation |
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