【摘要】 文中进行了两轮自平衡小车系统简化模型的理论研究,建立了系统的状态方程,应用了线性二次型最优控制理论(LQR)设计了两种稳定控制算法。对于LQR输出反馈控制,用输出量估计出状态量,然后对其进行最优控制。通过Matlab软件仿真,表明这两种方法对于两轮自平衡小车都有较好的控制作用,但设计的LQR输出反馈控制的效果更好。更多还原

【Abstract】 The simplified model of the two-wheeled self-balancing car is built in this paper,the state space equation of the system is established,and the linear quadratic optimal control theory are used to design two stability control algorithms.Output feedback control based on LQR is designed to use the output to estimate the state and then have an optimal control for it.Through the simulation experiment with Matlab software,it is discovered that the two methods have some control effect of the two-wheeled self-balancing car,but the output feedback control based on LQR has a better control effect.更多还原