摘要
针对小车控制系统的复杂性,设计一个以STM32F103C8T6微处理器为主控制器,以MPU-6050传感器为姿态检测部件的自平衡小车系统。由于陀螺仪和加速度计在测量时存在噪声干扰和随机漂移误差,采用卡尔曼滤波算法对陀螺仪和加速度计数据进行融合,补偿传感器测量误差,计算出小车倾角与角速度的最优估计值。并以最优姿态角和小车速度为反馈量构成双闭环控制,利用PID控制算法实现小车系统的自平衡控制。通过系统的软硬件设计、调试及运行情况,证明自平衡小车能够稳定地实现自平衡控制。
The two-wheel self-balancing vehicle system is a system which is similar to an inverted pendulum,and holds multivariable,nonlinear,strong coupling characteristics. For the complexity of the vehicle control system,we designed a self-balancing vehicle system by using STM32F103C8T6 microprocessor as the main controller,and MPU-6050 sensor as the attitude detection unit. Because gyroscope and accelerometer exist measurement noise and random drift error,Kalman filter algorithm is used to realize data fusion of the gyroscope and the accelerometer. In this way the sensor measurement error is compensated and the best estimates of the vehicle inclination and angular velocity are obtained. A double closed loop control is established with the feedback of optimal attitude angle and vehicle speed. PID control is used to achieve self-balancing control of the vehicle system. The hardware and software are also designed. By commissioning and operation the self-balancing vehicle can achieve stable self-balancing control.
出处
《实验室研究与探索》
CAS
北大核心
2016年第5期146-150,共5页
Research and Exploration In Laboratory
