现代电子技术2024，Vol.47Issue(11)：125-130,6.DOI:10.16652/j.issn.1004-373x.2024.11.021
基于SVR模型的两轮自平衡小车平衡控制与抗干扰研究
Research on two-wheeled self-balancing trolley's balance control and anti-interference based on SVR model
摘要
Abstract
A balance controller method based on support vector regression(SVR)machine learning method is proposed to address the balance control and anti-interference issues of the two-wheeled self-balancing trolley.The mechanical model of the two-wheeled trolley is analyzed,and the state vector and control vector are applied to the nonlinear support vector regression algorithm(ε-SVR).The LIBSVM is used to train the collected samples and obtain a high-precision SVR model,the sample data of which is obtained by running an established traditional closed-loop cascade PID controller.After Matlab simulation testing,the balance response of the model controller is superior to PID control and pole configuration method.Finally,a small sample trolley was made to verify the relative advantages of the SVR model in dynamic balance and self anti-interference.关键词
两轮自平衡小车/ICM20602/平衡控制/支持向量机/学习型控制/SVR模型Key words
two-wheeled self-balancing trolley/ICM20602/balance control/SVM/learning control/SVR model分类
信息技术与安全科学引用本文复制引用
李加定,余光正,缪文南,孙小广..基于SVR模型的两轮自平衡小车平衡控制与抗干扰研究[J].现代电子技术,2024,47(11):125-130,6.基金项目
国家自然科学基金面上项目(12074129) （12074129）
广东省普通高校重点领域专项(2022ZDZX1041) （2022ZDZX1041）
