摘要
在很多情况下,精确求解系统的吸引区域是非常困难的。以两轮自平衡车为例,利用二次Lyapunov函数的坐标变换方法来扩大吸引区域估算值。通过与吸引区域估算结果的对比,证明该坐标变换方法的有效性和计算的简便性。最后运用开源的Python程序仿真验证了在吸引区域范围内的初始条件,均可通过PID线性控制器使车体平衡稳定。
It is well known that it is hard to accurately solve the attracting domain of the system.This paper takes two-wheeled self-balanced vehicles for example and uses the secondary Lyapunov function with the coordinate conversion method to enlarge the estimated value of the attracting domain.Compared with the estimated result of the attracting domain,it is proved that the effectiveness and simplicity of the coordinate conversion methed are betler.And then,the python program simulation is used to verify the initial conditions in the domain of attraction.And PID linear controllers are used to stably control the vehicle.
作者
岳玉环
赵永华
郜峰
YUE Yuhuan;ZHAO Yonghua;GAO Feng(Jiaxing Vocational and Technical College,Jiaxing 314036,China)
出处
《机械制造与自动化》
2020年第5期119-122,共4页
Machine Building & Automation
基金
嘉兴职业技术学院校级课题项目(202027)。
