The invention discloses a balance car control method based on a nonsingular terminal sliding mode active disturbance rejection technology. The method comprises the following steps: constructing a balance car system model; constructing a nonlinear expansion state observer; designing the control rate of the nonsingular terminal sliding mode controller; calculating the difference between the target position of the balance car and the displacement output of the balance car system model, and inputting the difference into a PID controller to obtain a target angle; observing angle output of the balance car system model to obtain an observation state; inputting the target angle, Z1 and Z2 into a nonsingular terminal sliding mode controller to obtain an output signal; carrying out subtraction on the output signal and Z3, and then carrying out linear processing to obtain a control signal; on one hand, the control signal acts on the balance car system model to control the balance car system model to obtain displacement output and angle output; on the other hand, the signals are input to the nonlinear expansion state observer, and finally closed-loop control is formed. Accurate control can be achieved, and the balance car is kept in a steady state all the time under various disturbances.
本发明公开了一种基于非奇异终端滑模自抗扰技术的平衡车控制方法,包括以下步骤:构建平衡车系统模型;构建非线性扩张状态观测器;设计非奇异终端滑模控制器的控制率;将平衡车的目标位置与平衡车系统模型的位移输出作差后,输入至PID控制器,得到目标角度;观测平衡车系统模型的角度输出,得到观测状态;将目标角度、Z1、Z2输入至非奇异终端滑模控制器,得到输出信号;将输出信号与Z3作差后,再经过一个线性化处理后,得到控制信号;控制信号一方面作用于平衡车系统模型,控制其得到位移输出和角度输出;另一方面输入至非线性扩张状态观测器,最终形成闭环控制。本发明能够实现精准控制,保持了平衡车在各种扰动下始终处于稳态。
Balance car control method based on nonsingular terminal sliding mode active disturbance rejection technology
一种基于非奇异终端滑模自抗扰技术的平衡车控制方法
2023-10-27
Patent
Elektronische Ressource
Chinesisch
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