基于无线遥控的两轮自平衡车设计

Design of two wheeled self balancing vehicle based on wireless remote control

提出了一种无线遥控两轮自平衡小车的设计方案,采用陀螺仪和加速度计测量小车的倾斜角度和加速度,通过卡尔曼滤波算法融合出角度,PID对步进电机进行控制。遥控器利用数字加速度计做传感器,实现重力遥感,对小车的方向和速度进行无线遥控。实验结果表明,该设计方案能够使小车保持直立,稳定前进后退,无线通信可靠,能实时控制小车的运动形式,并且有一定的抗干扰能力,是检验各种控制方法的典型装置。

This chapter proposes a design scheme of the wireless remote control of two wheeled self-balancing vehicle The angle and the acceleration of the car is measured by gyro and accelerometer.Then we get the integrated angle through the Calman filter and control the stepper motor by PID.Remote controller is to achieve gravity sensing based on digital accelerometer.The experimental results show that this design can make the car upright in real time,forward and backward stably,reliable wireless communication.It can control the car’s movement.And there is a certain anti-interference ability.It is a typical device for testing various control methods.