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单片机控制PID调节的自平衡自行车

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针对自行车欠驱动系统的自平衡问题,研制出一种以欠驱动惯性轮系统为物理模型的自平衡自行车,采用拉格朗日法建立了数学模型,进行了动力学分析,得到了有效的核心算法。使用STM32F103c8t6单片机作为核心控制器,通过PID参数的适配控制研究,借助于飞轮在改变加速度过程时产生的反作用惯性力矩,使自行车欠驱动系统渐近收敛于直立的静止平衡状态,车体倾角呈周期性变化,实现了自行车的静止直立自动平衡,并具备一定的抗干扰能力。

In this paper,Aiming at the self-balancing problem of under-actuated bicycle system,a self-balancing bicycle with under-actuated inertial wheel system as physical model is developed innovatively.The dynamic analysis is achieved by Lagrange method,and the effective core algorithm is obtained.The STM32F103c8t6 micro-controllers is adopted as the core controller.Based on the study and debugging of adaptive control of PID parameters and the reaction inertia moment produced by flywheel in the process of changing the acceleration,the under actuation system of bicycle converges asymptotically to the stationary equilibrium state,the inclination of the car body changes periodically,the static upright automatic balance of the bicycle is achieved,and have a certain ability to resist interference.

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