基于自抗扰控制算法的两轮自平衡车分析

为解决两轮自平衡车因系统的不确定和驾驶者的不同而导致它的系统参数变化的问题,将自抗扰控制(ADRC)技术应用到两轮自平衡车的自适应控制中。该系统是以加速度计、陀螺仪为姿态传感器,与连有同轴的永磁有刷直流电机为执行机构的两轮自平衡车,考虑车轮与地面的摩擦力因素,通过物理学分析,运用牛顿力学方程建立了系统对应的非线性数学模型,得到了其状态空间方程,将系统解耦成平衡与转向两个独立的子系统,应用自抗扰控制技术估算出系统的总扰动,对系统进行了控制补偿,提出了基于自抗扰控制算法来实现两轮自平衡车的控制的方法。在Matlab中的Simulink模型/建模平台上进行了仿真评价,并通过搭建实验平台进行了不同路况的试验验证。试验结果表明:自抗扰控制技术能够满足两轮自平衡车控制的目标,可以用来控制两轮自平衡车系统。

Analysis of two-wheeled self-balancing mobile robots based on ADRC

Aiming at solving the problem that systems＇ uncertainties and drivers＇ variations may lead to the parameters＇ changes of the two-wheeled self-balancing vehicles,a system for two-wheeled self-balancing vehicles based on the active disturbance rejection control （ADRC） was researched.With accelerometer and gyroscope as attitude sensors and coaxial permanent magnet brush DC motor as actuator,the friction between the wheels and the floor was considered.Mter physics analysis,Newtonian mechanics equation was used to build a system-related nonlinear mathematical model and to get its state-space equation.Then,the system was divided into two separate subsystems.That is,vehicle-balancing and directions-changing.Finally,the system＇s total disturbance was estimated and controlled,a method to control the two-wheeled self-balancing vehicles was put forward.This method was evaluated on the Simulink model simulation and experiments on different road conditions.The results indicate that the method based on the ADRC can be used to control the twowheeled self-balancing vehicles.