摘要
为解决两轮平衡车在行驶中控制难度大的问题,设计了一种非基于模型的比例积分微分(PID)控制策略,避免了基于模型的现代控制方案中存在的设计过程繁杂的问题。针对PID控制稳定性低、自适应性差的问题,本实验进一步优化出了以位移为反馈的模糊PID控制器。根据平衡车的物理结构,对其进行了数学建模;基于系统的状态空间表达式,对其作了可控性分析。传统PID存在的一项艰巨任务是确定控制器的参数,且一旦确定了参数,就很难再重新整定它,故本实验设计了模糊逻辑控制器(FLC)以更新PID的权重参数-Kp,Ki和Kd。通过Matlab仿真对比验证,本实验得到了PID及模糊PID两种控制方案下系统的响应与信号跟踪情况,模糊PID控制相比PID控制具有更好的控制效果:系统的调节速度提高了60%左右,稳定性提高了将近50%。在平衡车的负载重量发生变化的时候,传统PID控制难以避免地出现阶跃响应波动明显的情况,而模糊PID的系统响应相对平稳。因此,模糊PID控制下的平衡车系统可实现不同承载情况下位移的准确跟踪,满足了平衡车对系统稳、快、准的要求。
In order to solve the problem of balancing vehicle’s driving,we design a model-free PID controller,which avoids model-based modern control’s design difficulties.Aimed at improving PID’s poor stability and adaptability,this experiment designs a fuzzy PID controller with displacement as its feedback.According to its physic construction,the mathematical modeling for the self-balanced vehicle is established and the stability analysis of its State space is conducted.The fuzzy PID control of this experiment is a combined intelligent control strategy based on fuzzy logic and PID.In the traditional PID control,a difficult task is to determine the parameters of the controller.Moreover,once the parameters are determined,it is difficult to reset them again.Therefore,the experiment finds a good way to update the weight of the PID-Kp,Ki,and Kd,with the help of the fuzzy logic controller(FLC).Through the Matlab simulation and comparison verification,this experiment obtains the dynamic response and signal tracking of the system under the control scheme of PID and fuzzy PID.Fuzzy PID control has better control result over the PID control strategy:the system adjustment speed has increased by 60%,and the stability has increased by nearly 50%.When the load weight of the balancing vehicle changes,the traditional PID control’s unit response fluctuates significantly,while the fuzzy PID control’s response is relatively stable.Therefore,the balancing vehicle system under the control of the fuzzy PID control achieves accurate displacement tracking control under different load weight,which meets the control requirements of balancing vehicle more quickly,efficiently and accurately.
作者
颜奕政
郭海龙
侯俊伟
王汝艮
李庚烽
Yan Yizheng;Guo Hailong;Hou Junwei;Wang Rugen;Li Gengfeng
出处
《时代汽车》
2024年第21期110-113,120,共5页
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基金
2023年国家级职业教育教师教学创新团队特色项目(CXTD005)
广东省普通高校青年创新人才项目(2023KQNCX187)
广东省高等职业院校交通运输类专业教学指导委员会教育教学改革与研究项目(JTYSJZW2023A01)
2024校级大学生科技课题(GDCP-ZX-2024-026-N2)。
关键词
模糊
PID
平衡车
仿真
自适应
Fuzzy
PID
Simulation
Balancing Vehicle
Adaptive
