| Autor: |
Yimin Ma, Fanhao Meng, Shuangshuang Xiong |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Applied Sciences, Vol 14, Iss 12, p 5296 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app14125296 |
| Popis: |
To improve the upright balancing performance of the two-wheeled self-balancing car, this paper proposes an attitude estimation algorithm based on fuzzy Kalman filtering. Fuzzy logic is used to correct the inclination angle and angular velocity of the two-wheeled self-balancing car, thereby optimizing the state of the Kalman filter and ultimately improving the balancing performance of the car. This paper combines dual closed-loop PID control with the complementary filtering algorithm, Kalman filtering algorithm, and fuzzy Kalman filtering algorithm to conduct experiments on a physical two-wheeled self-balancing car. The experimental results validate the superiority of the fuzzy Kalman filtering algorithm proposed in this paper for improving the upright balancing performance of the two-wheeled self-balancing car. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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