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采用PID控制算法公式如下：
其中，u(k)為當前調節器輸出量;u(k-1)為上一次調節器輸出量;△u(k)為當前控制增量;e(k)為當前控制誤差量;Kp為比例系數;KI為積分系數;Kd為微分系數。PID控制算法流程如圖7所示。圖中，ε為調試過程中設定的誤差值。
4 實 驗
利用該控制方法，對原理樣機進行了多次實驗。實驗中，在機器人正上方水平位置安裝陀螺儀，以采集機器人的傾倒角度數據。實際測量角度信息隨時間變化的曲線如圖8所示。通過測得數據分析可以看到，機器人大致可以穩定在0°附近，偏差為±2°。
結 語
本文設計了以ATmage128單片機為控制核心，采用紅外測距傳感器監控的雙輪自平衡機器人，并搭建實驗平臺進行了控制試驗。實驗結果表明，該機器人可以通過有效的控制保持在豎直狀態，并且在一定的角度范圍內達到平衡。
LC1-F800MW
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