Abstract
Abstract The LQR control method based on quantum particle swarm optimization (QPSO) is used to solve the balance problem of the control torque gyro self-balancing vehicle. Firstly, the system dynamics model was established by Lagrange method, and the fitness function of mixed indexes was designed, and the system was simulated numerically. Finally, compared with the results of double closed-loop PID control and LQR control using empirical method, the performance of each algorithm in vehicle body balance control is analyzed. The results show that the LQR control algorithm based on PSO optimization can quickly adjust the roll Angle from the initial Angle to the balance position, and has a faster response time, smaller overshoot, and a stronger ability to resist external interference for the balance control of the torque gyro balancing vehicle.
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