两轮自平衡小车的控制策略设计

Control Strategy of Two-wheeled Self-balancing Car

本文在总结和归纳国内外两轮自平衡小车的研究现状后,在使用现有小车的情况下,选用适当的控制器、执行电机和传感器,设计出两轮自平衡小车的驱动电路,实现了两轮小车的硬件控制系统。其工作原理是系统以姿态传感器(陀螺仪、加速度计)来监测车身所处的俯仰状态和状态变化率,通过高速中央处理器计算出适当数据和指令后,驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。本次实验将陀螺仪与加速度传感器集成在一张板上,对传感器两者所采集的数据进行互补滤波的优化处理,补偿陀螺仪的漂移误差和加速度计的动态误差,得到一个更优的倾角近似值,之后使用PID控制器来进行系统设计,最终实现小车的直立。

Based on the review and summarization of the research status of two wheel self-balanced cars at home and abroad, in the case of using an existing car, the appropriate controllers, motors, and sensors are selected to perform the design of self-balancing two-wheeled trolley driver circuit to achieve the hardware control system of a two-wheel car. Its working principle is to posture sensors （ gyroscopes, accelerometers） to monitor the status and state variation rate. Through the central high-speed processor, the appropriate instructions are calculated to drive the motor forward or backward acceleration to achieve the effects of balance of the vehicle body. In this experiment, the two sensors are integrated in a panel to optimize the data collected by both sensors, compensate the drift error and accelerometer dynamic error, to get a better approximation of inclination. Then, PID control technology is used to perform system de- sign to achieve the standing of the car.