了两轮自平衡机器人的平衡、速度、方向控制，但叠加之后互相干扰，平衡位置

了两轮自平衡机器人的平衡、速度、方向控制，但叠加之后互相干扰，平衡位置控制效果不够理想。文献 ]使用 LQR 控制器对两轮自平衡机器人进行伺服控制，仿真结果显示了方法的合理性与有效性，但是大扰动情况下动态响应不够快。综合分析PID和LQR 这2种控制器的优点和缺点，提出了一种使用PID来改进LQR 的控制方案，构建仿真模型验证了新控制方案在大扰动和平衡位置都具有优良的特性，并将其应用于实际中两轮自平衡机器人，得到了良好的实用效果。

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结果 (英语) 1: [复制]

复制成功！

The self-balancing the balance of the robot, the speed, direction control, but stacked mutual interference After the addition, the equilibrium position of the control result is not satisfactory. Text literature] LQR controller using two self-balancing robot servo control, simulation results show that reasonable and effective way of resistance, but in the case of large disturbance dynamic response fast enough. Comprehensive analysis of the advantages and disadvantages of these two kinds of PID and LQR controller, a proposed kinds PID control scheme to improve the LQR, simulation model constructed based authentication scheme in the new control position and balance large disturbances have excellent characteristics, and It will be applied in practice two self-balancing machines who get good practical effect.

正在翻译中..

结果 (英语) 2:[复制]

复制成功！

two rounds of self-balancing robot balance, speed, direction control, but stacked After the addition of interference with each other, the balance position control effect is not ideal. Wen Two-wheelself-balancing robot using LQR controller Servo control, simulation results show the rationality and effectiveness of the method dynamic response is not fast enough in the case of large disturbances. Comprehensive analysis PiD and LQR the advantages and disadvantages of these two controllers, a Use PIDs to improve LQR's control scheme and build simulation models type verifies that the new control scheme has both a large disturbance and a balanced position Excellent features and applied to the actual two-wheel self-balancing machine people, got a good practical effect.

正在翻译中..

结果 (英语) 3:[复制]

复制成功！

The balance, speed and direction control of the two wheeled self balancing robot are realized, but The effect of balance position control is not ideal. writing Use LQR controller to carry out two wheel self balancing robot Servo control, simulation results show that the method is reasonable and effective But the dynamic response is not fast enough in the case of large disturbance. comprehensive analysis The advantages and disadvantages of PID and LQR controllers are presented Using PID to improve LQR control scheme, building simulation model It is verified that the new control scheme has It has excellent characteristics and is applied to two wheel self balancing machine in practice People, got the good practical effect.

正在翻译中..

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