CAJ | 학술논문

在两轮自平衡小车启动暂态过程中，小车站立姿态调整过程缓慢，存在震荡性和抖动性问题．结合模糊P ID控制算法和积分补偿方案，实现对小车左右轮输出的电压进行优化控制，使小车能在较短时间内快速修正到直立状态．模拟和实验结果均表明：采用模糊PID算法和积分补偿相结合的优化方案后，小车启动过程的姿态变化更加平滑，动态倾斜角度的测量更加精准，震荡明显减弱．在小车从初始倾斜角度－4°调整到平衡0°时，采用模糊P ID算法能提高系统的测试性能，缩短系统的修正时间，减小震荡范围，震荡峰值从常规PID算法的2.2°降为0.5°，超调量从55％降为12.5％．该研究应用在两轮自平衡小车上，可以提高乘坐的舒适性，减少因长时间进行姿态修正而产生的电力消耗．
재량륜자평형소차계동잠태과정중，소차참립자태조정과정완만，존재진탕성화두동성문제．결합모호P ID공제산법화적분보상방안，실현대소차좌우륜수출적전압진행우화공제，사소차능재교단시간내쾌속수정도직립상태．모의화실험결과균표명：채용모호PID산법화적분보상상결합적우화방안후，소차계동과정적자태변화경가평활，동태경사각도적측량경가정준，진탕명현감약．재소차종초시경사각도－4°조정도평형0°시，채용모호P ID산법능제고계통적측시성능，축단계통적수정시간，감소진탕범위，진탕봉치종상규PID산법적2.2°강위0.5°，초조량종55％강위12.5％．해연구응용재량륜자평형소차상，가이제고승좌적서괄성，감소인장시간진행자태수정이산생적전력소모．
There are some problems about the starting transient process of the two‐wheeled self‐balanced trolley .For example ,the adjustment process of trolley stand posture is slow ,and it exists concussion and jitter .In this paper ,fuzzy PID control algorithm and integral compensation scheme have been used to opti‐mize the control of the output voltage of the left and right w heels ,so that the trolley can repair to upright position quickly .Simulation and experimental results show that by combining fuzzy PID and integral com‐pensation ,the posture change of trolley starting process is smoother ,the measurement of dynamic tilt an‐gle is more accurate ,and the concussion is weakened obviously .When the tilt angle changes from -4°to 0° ,the use of fuzzy PID algorithm can improve the systematic test performance ,shorten systematic modi‐fied time ,diminish concussion range ,and the concussion peak can descend from 2 .2° with conventional PID algorithm to 0 .5° with fuzzy PID algorithm ,the overshoot reduces from 55% to 12 .5% .The study on the two‐wheeled self‐balancing vehicle can improve ride comfort ,reduce power consumption caused by long‐time posture modification .