Research On Control System Of Two-wheeled Self-balanced Vehicle Based On Fuzzy Adaptive PID

Since 1962,the world's first robots have been designed and robotics technology has entered a rapid development stage.Because robotics technology requires cross-linking in many fields,it increasingly represents the comprehensive scientific and technological strength of a country.A two-wheeled self-balancing vehicle belongs to a kind of robot,which is called wheeled mobile robot is inspired by the balance mechanism of the human body.The physical model can be categorized into a first-order inverted pendulum.The self-balancing system is a complicated nonlinear system.,which contains many variables,the variables coupled to each other,it is difficult to the control parameters,control tasks are become more complex.The control system is an ideal platform for research and verification of complex control methods.Fuzzy control is a control algorithm that bases on human experience.It does not require the precise mathematical model of the control object.It intelligently synthesizes people's intuition experience,through the processing of fuzzy information,it can implement good control of complex objects.The design is simple,easy to apply,strong anti-interference ability,fast response,easy to control,and fuzzy control has good robustness,it can work well when the parameters or structure of the object have a certain degree of change.Studies of the dynamics model of a two-wheeled self-balanced vehicle were carried out,designs the mechanical architecture,peripheral circuits,terminals and wireless data paths which required for the self-balanced vehicle.The self-balanced vehicle part includes the power unit,sensor unit and controller;the terminal mainly includes remote control,device,friendly interface and data storage.The traditional PID algorithm was written to debug the self-balanced vehicle to complete erecting,front and rear,turning and other actions.Self-adaptive fuzzy PID control was introduced.Through the self-tuning of parameters,the function of automatically adjusting PID parameters was achieved,and the stability control of the balancing vehicle was realized.The two algorithms were compared in depth and the adaptive PID algorithm was used to control the effect.Accuracy,speed,stability,and robustness are superior to traditional PID algorithms.