小型两轮自平衡电动车系统的设计与研究

Small Two Wheeled Self Balancing Electric Vehicle System

在小型两轮自平衡电动车控制方案中,常使用加速度计和陀螺仪作为其姿态检测传感器。但两者检测到的数据均存在误差,需要采用滤波器对其进行滤波。常用的有卡尔曼滤波器与互补滤波器,通过对两者算法进行仿真比较,以及在实际设计运用中加以验证,实验结果证明在此控制方案中卡尔曼滤波器优于互补滤波器。

In the small two wheeled self balancing electric vehicle control scheme,often using acceleration transducer and gyroscope as its attitude detecting sensor.But both exist errors,so use filter make the wave smoother.There is a commonly used Kalman filter and complementary filter,through the simulation of the algorithm comparison and verification in practical design.The experimental results prove that in this control scheme the Kalman filter is better than the complementary filter.