两轮自平衡小车的研究与实现

Research and Implementation of Self Balancing Two Wheeled Vehicle

介绍以飞思卡尔MK60N512VMD100单片机为控制器和以MMA7260加速度传感器及ENC-03角速度传感器等传感器元件作为传感检测系统的两轮自平衡小车系统。阐述了基于加速度传感器和角速度传感器获取两轮小车倾斜角度的滤波算法及其实现、自平衡控制算法及其实现,电机控制策略等相关问题。实验结果表明,此小车具有较好的平衡性和稳定性。

This paper introduces the Freescale's MK60N512VMD100 as controller and MMA7260 acceleration sensor.ENC-03 angular velocity sensor element is used as a sensing system for the two wheeled vehicle system.The filtering algorithm for acceleration and angular rate sensors for two wheel vehicle inclination angle,and its realization based on the self balancing control algorithm and its implementation.The test shows that,the two wheeled vehicle has better balance and stability.