Self-balancing Car based on Adaptive Fuzzy PID Control

被引：0
|
作者：
Nie, Zhen [1 ]
Zhao, Huailin [1 ]
Sun, Lu [1 ]
Zhong, Xiongfeng [1 ]
机构：
[1] Shanghai Inst Technol, Sch Elect & Elect Engn, 100 Haiquan Rd, Shanghai 201418, Peoples R China
来源：
PROCEEDINGS OF THE 2020 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2020) | 2020年
关键词：
Self-balancing Car; Kalman Filter Optimization Algorithm; Fuzzy PID Control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The self-balancing car is widely studied for its advantages of convenient operation, flexible movement, energy saving and reliability. In this paper, the STM32F105 is used as the main control chip to design a self-balancing car which realizes remote control and video transmission through WIFI. Because the self-balancing car is an unstable nonlinear system, the Kalman filter optimization algorithm is used to fuse the data of gyroscope and accelerometer, and the adaptive fuzzy PID control algorithm is used to control the balance of whole system. The experimental result shows that the system is easy to control, has strong stability, low power consumption and high transmission efficiency.
引用
收藏
页码：599 / 604
页数：6
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