| 一种两轮自平衡机器人比例-积分-微分控制方法 |
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| 引用本文： | 闫辉,贾彦茹,董建军. 一种两轮自平衡机器人比例-积分-微分控制方法[J]. 自动化技术与应用, 2021, 40(3): 6-10. DOI: 10.3969/j.issn.1003-7241.2021.03.002 |
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| 作者姓名： | 闫辉 贾彦茹 董建军 |
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| 作者单位： | 信阳学院,河南 信阳 464000 |
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| 摘 要： | 两轮自平衡机器人以其机械结构简单,灵活高效的运动特性,具有广阔的应用前景.本文应用理论力学原理,分析并建立了两轮自平衡机器人的动力学模型.在此基础上,分别针对机器人系统的自平衡控制、速度控制设计了比例-积分-微分(PID)控制器.通过复频域和时域分析的方法,提出了一种简便的PID控制参数的整定方法.根据系统PID控制模...
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| 关 键 词： | 自平衡机器人 PID控制 参数整定 自平衡控制 速度控制 |
A Proportion-integration-differentiation Control Method for Two-wheeled Self-balancing Robots |
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| YAN Hui,JIA Yan-ru,DONG Jian-jun. A Proportion-integration-differentiation Control Method for Two-wheeled Self-balancing Robots[J]. Techniques of Automation and Applications, 2021, 40(3): 6-10. DOI: 10.3969/j.issn.1003-7241.2021.03.002 |
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| Authors: | YAN Hui JIA Yan-ru DONG Jian-jun |
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| Affiliation: | (Xinyang University,Xinyang 464000 China) |
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| Abstract: | Self-balancing two-wheeled robots have potential application in many fields for its simple physical structure and fast maneuvering characteristics.The dynamics model based on theoretical mechanics principles is introduced.Proportion-Integration-Differentiation(PID)controllers are designed for the self-balancing and velocity control.An effective parameter tuning method is presented to simplify the process of obtaining practical control model through complex and time domain analysis.A torque formula coming from the PID control model is given to compute the output of a robot’s motor.Experimental applications of this control method show that the performances of dynamic response and steady states are satisfied.Its implementation costed little resources of robot system,and the parameter tuning method is effective. |
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| Keywords: | self-balancing robot PID control parameter tuning self-balancing control velocity control |
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