单轴两轮自平衡小车姿态控制系统设计

Uniaxial Two Wheel Self-balancing Car Attitude Control System

两轮自平衡车是动态平衡机器人的一种,需要靠运动保持平衡不倒,要施加强有力的控制手段使其稳定。介绍一种单轴两轮自平衡小车姿态控制系统设计过程,采用Freescale Kinetis 60作为核心控制单元,三轴加速度传感器MMA7260和陀螺仪ENC-03M测量车模的倾角和倾角速度,测速编码器获取电机运动状态,通过PD调节控制两个电机正反向运动,保持车模直立平衡状态。为了增加小车的机械稳定性,采取了降低重心和减轻小车质量的方法,比如把小车电池和主控板等尽量压下,将整个车模的重心降到轮轴附近。

Two-wheeled self-balancing vehicle is a kind of dynamic balancing robot,need to rely on motion balance but not to a powerful control makes it stable.This paper introduces an uniaxial two-wheel self-balancing dolly attitude control system design process,using Freescale Kinetis 60 as core control unit,triaxial acceleration sensor MMA7260 and gyroscope ENC- 03 m measurement models of Angle and Angle speed,speed encoder for motor motion,through PD regulating control two motor direction,movement,balance of models of vertical state.In order to increase the mechanical stability of the car,took a lower center of gravity and reduce the car quality approach,such as the car battery and the main control board to press down as far as possible,the center of the whole car model should be near to the shaft.