摘要
为自平衡电动车提供实时的运行姿态,阐述一种双轮自平衡电动车用的姿态确定系统,对测量噪声进行分析,并且对几种滤波方法进行比较,提出一种姿态确定方案,即采用陀螺仪和倾斜仪测定姿态,通过平滑滤波进行实时处理。对于陀螺的零位漂移,使用倾斜仪采集到的数据对其进行补偿,并通过单片机进行实时运算、处理和传输。最后,通过对实物系统的数据检测,验证了该方案的合理性和可行性,证明该系统可以应用于实时性要求较高的姿态控制系统之中。
An attitude determination of two-wheel electrical motorcycle is described.By analyzing the observation noise,comparing several methods of filter,a method for attitude determination is proposed.Gyroscopes and clinometers to determinate the electrical motorcycle attitude is used.In order to compensate the gyroscopes zero shift,the data which clinometers acquired is used.The data are sent to the microprocessor for real-time processing.The analysis of the data of the system shows that this project is reasonable and feasible.This system can be used in real-time attitude control system.
出处
《控制工程》
CSCD
北大核心
2009年第S1期45-47,60,共4页
Control Engineering of China
关键词
定姿系统
单片机
测量噪声
attitude determination system
microprocessor
observation noise
