摘要
分析了一种双闭环控制平衡车惯性导航系统算法,在平衡车惯性导航系统中加入双闭环控制PID算法,通过此算法改善了传统PID算法的不足,提高了平衡车导航稳定性和精准性。另外,以myrio作为平衡车的硬件结构,应用labview软件编程对该系统进行了设计、实现与分析,根据实验数据验证双闭环控制系统,有效地提高平衡车动态稳定性和阶跃响应性。
The algorithm of a double closed-loop control balance car inertial navigation system is analyzed. The double closed-loop control PID algorithm is added to the balance car inertial navigation system. This algorithm improves the deficiency of the traditional PID algorithm and improves the stability and accuracy of the balance car navigation.. In addition, myrio is used as the hardware structure of the balance car. The system is designed, implemented and analyzed by labview software programming. It is effective and feasible to verify the double closed-loop control system based on experimental data, which can effectively improve the stability and responsiveness of the balance car..
引文
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