单轨车辆的动力学建模与自平衡控制仿真

The Dynamic Modeling and Self-Balancing Control Simulation of Monorail Vehicles

摘要: 本研究旨在了解单轨车辆的运动特点及找到一种较优异的自平衡控制方案。本文首先建立了单轨车辆的动力学方程，在此基础上，设计了经典PID控制器、模糊PID控制器、针对经典PID控制器寻参困难情况，提出PSO-GA算法优化的PID控制器，共计三种仿真控制方案，完成单轨车辆在做匀速直线运动时的自平衡控制。仿真结果表明，针对所设计的单轨车辆，PSO-GA算法优化的PID控制器由于具有较强的随机性，对于复杂系统，不能快速高效的寻找最优解，模糊PID控制器对于该模型有稳定的较好的控制效果。本研究为优化单轨车辆的稳定性设计、提高控制性能提供了可供参考的指导和借鉴。

Abstract: This study aims to understand the motion characteristics of a monorail vehicle and find an optimal self-balancing control scheme. First, the dynamic equations of the monorail vehicle are established. Based on this, three simulation control schemes are designed: the classical PID controller, the fuzzy PID controller, and a PID controller optimized using the PSO-GA algorithm to address the difficulty in parameter tuning for the classical PID controller. The self-balancing control of the monorail vehicle during uniform straight-line motion is then performed. Simulation results indicate that, for the designed monorail vehicle, the PID controller optimized by the PSO-GA algorithm, due to its strong randomness, is not efficient in quickly finding the optimal solution for complex systems. On the other hand, the fuzzy PID controller provides stable and satisfactory control performance for this model. This study offers useful guidance and reference for optimizing the stability design and improving the control performance of monorail vehicles.