采用双闭环PID控制及PSO算法的双足轮式倒立摆控制系统.pdf

Journal of Sensor Technology and Application 传感器技术与应用, 2014, 2, 25-34 Published Online October 2014 in Hans. /journal/jsta /10.12677/jsta.2014.24005 Control System of a Feet-Wheeled Inverted Pendulum Based on Double Closed-Loop PID Controller Combined with PSO Ruotong Qu, Conghui Li, Shiru Qu School of Automation, Northwestern Polytechnical University, Xi’an Email: qushiru@ nd th th Received: Sep. 2 , 2014; revised: Oct. 4 , 2014; accepted: Oct. 15 , 2014 Copyright © 2014 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Abstract In order to solve the feet-wheeled inverted pendulum’s stability control problem, a control system of a feet-wheeled inverted pendulum based on double closed-loop PID controller combined with particle swarm optimization is proposed. In addition, we designed a cost function related to the control effect to increase the stability of the control system. Under matlab simulation conditions, stable control of the feet-wheeled inverted pendulum was achieved. Experimental results showed that after tuning, the step response of the controller parameters was better than that of the origi- nal parameters with the rise time and the settling time was shorter than that of the non-tuning PID controller. This algorithm has been applied to a vertical intelligent search-identify-sampling sys- tem based on the area CCD, showing the availability of the PSO-PID controller. Keywords Feet-Wheeled Inverted Pendulum, PID, PSO 采用双闭环PID控制及PSO算法的双足轮式倒 立摆控制系统 曲若彤，李聪慧，曲仕茹 西北工业大学，自动化学院，西安 25 采用双闭环PID 控制及PSO 算法的双足轮式倒立摆控制系统 Email: qushiru@ 收稿日期：