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Motion control for a two-wheeled vehicle using a self-tuning PID controller

机译:使用自整定PID控制器的两轮车运动控制

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This paper presents the motion control and stability analysis of a two-wheeled vehicle (TWV). The TWV is driven using two independent wheel motors, upon which a vehicle body is mounted. A mathematical model of the TWV is obtained using dynamic analysis. The TWV is inherently unstable and its motion is controlled through the actions of the wheel motors. Vehicle action depends on both the desired wheel response and the tilt angle. A self-tuning proportional-integral-derivative (PID) control strategy, based on a deduced model, is proposed for implementing a motion control system that stabilizes the TWV and follows the desired motion commands. The controller parameters are tuned automatically, on-line, to overcome the disturbances and parameter variations. Experimental results are presented to demonstrate the reliability and effectiveness of the proposed control scheme.
机译:本文介绍了两轮车(TWV)的运动控制和稳定性分析。 TWV由两个独立的轮式电动机驱动,车轮上装有车身。使用动态分析获得TWV的数学模型。 TWV本质上是不稳定的,它的运动是通过轮式电动机的作用来控制的。车辆动作取决于所需的车轮响应和倾角。提出了一种基于推导模型的自整定比例积分微分(PID)控制策略,用于实现稳定TWV并遵循所需运动命令的运动控制系统。控制器参数可自动进行在线调试,以克服干扰和参数变化。实验结果表明该控制方案的可靠性和有效性。

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