PID Tuning for the pitch angle of a Two-Wheeled Vehicle

被引：3
|
作者：
Souza, M. R. S. B. [1 ]
Murofushi, R. H. [1 ]
Tavares, J. J. P. Z. [1 ]
Ribeiro, J. F. [1 ]
机构：
[1] Univ Fed Uberlandia, Mfg Automated Planning Lab, Uberlandia, MG, Brazil
来源：
2015 12TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 2015 3RD BRAZILIAN SYMPOSIUM ON ROBOTICS (LARS-SBR) | 2015年
关键词：
Two-wheeled vehicle; PID tuning; Relay method; Augmented Ziegler-Nichols PID; CONTROLLERS;
D O I：
10.1109/LARS-SBR.2015.69
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A two-wheeled vehicle is an unstable system and it can be approximated to inverted pendulum, so there is a need of a suitable controller so that it can be stabilized. This paper compares three PID design techniques without mathematical model of the system in order to remain it stand. The methods discussed are Manual Tuning, Relay Tuning and Augmented Ziegler-Nichols and experimental results are presented. All the electronic gadgets and algorithms are embedded in the vehicle.
引用
收藏
页码：371 / 375
页数：5
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