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本文对国内外研究加以结语,设计系统机械结构与驱动方案,搭建了一个特殊的独轮控制平台,实现其在一定干扰下的平衡控制和转向行驶。针对性设计双闭环串级PID控制算法,通过建模分析与实际调试,深入研究了独轮平台的控制规律。
This article concludes the research at home and abroad, designs the mechanical structure and driving scheme of the system, sets up a special unicycle control platform, and realizes its balance control and steering with certain disturbance. Targeted design of double closed-loop cascade PID control algorithm, through modeling and analysis and practical debugging, in-depth study of the control law of a single-wheel platform.