两轮自平衡载运工具驱动电机分数阶PID控制器设计

杨光祥; 梁华; 康秋红

doi:10.13433/j.cnki.1003-8728.2015.0619

两轮自平衡载运工具驱动电机分数阶PID控制器设计

doi: 10.13433/j.cnki.1003-8728.2015.0619

1.
重庆工商大学检测控制集成系统重庆市市级工程实验室, 重庆 400067;
2.
电子商务及供应链系统重庆市重点实验室, 重庆 400067;
3.
重庆工商大学, 重庆 400067

基金项目:

重庆工商大学2014年青年博士基金项目（1352015）资助

详细信息

作者简介:
杨光祥（1973-），副教授，博士，研究方向为智能控制，无线传感网，ygxmonkey@126.com

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- 被引次数: 0
出版历程
- 收稿日期: 2014-03-11
- 刊出日期: 2015-06-05

Designing Fractional Order PID Controller of Driving Motor for a Two-Wheeled Self-balancing Vehicle

1.
Chongqing Engineering Laboratory for Detection, Control and Integrated System, Chongqing Technology and Business University, Chongqing 400067, China;
2.
Chongqing Key Laboratory of Electronic Commerence & Supply Chain System, Chongqing 400067, China;
3.
Chongqing Technology and Business University, Chongqing 400067, China

摘要

摘要: 研究了一种两轮自平衡载运工具的驱动电机及其分数阶FOPID控制算法。FOPID控制器针对两轮自平衡载运工具的不确定性和不同载荷所引起的不同速度需求，提供连续的良好驱动性能。建立了驱动电机的状态方程，并采用分数阶方法建立驱动电机速度环的控制模型，两轮自平衡载运工具驱动电机的性能进行实验研究与分析，最后开发了STM32嵌入式系统的电机驱动模块。驱动电机速度环的仿真实验表明：FOPID具有比传统PID更好的性能，其超调量可减小为28.6%，调整时间可减小到1.25 s，提出的FOPID控制器能够较好地实现两轮自平衡载运工具的稳定驱动控制。
- 两轮自平衡载运工具 /
- 分数阶PID /
- 驱动电机 /
- STM32嵌入式系统
Abstract: This paper describes the driving system and its fractional order PID (FOPID) control algorithm for DC motor velocity control in a two-wheeled self-balancing vehicle (TWSBV) which is a nonlinear system. The proposed control algorithm aims to provide consistent driving performance for TWSBV on the condition of uncertainty and various velocities caused by different payload. The equations of motion of the motor are established and the FOPID control algorithm is presented. The motor's driving system is developed based on the STM32 embedded system. The simulation results indicate that the overshoot is minimized to 28.6% and that the settling time is reduced to 1.25 second. These parameters prove that the dynamic response performance of the FOPID controller is better than the conventional PID controller, thus being able to achieve the stable driving control.
- algorithms /
- angular velocity /
- brushless DC motors /
- computer software

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参考文献(15)

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