基于线性CCD的双轮平衡车控制系统设计

The Control System Design of Two-wheeled Self-balancing Car Based on Linear CCD

针对双轮车平衡与自动寻迹问题,论文研究了基于线性CCD循迹的双轮平衡车的控制系统,该系统由直立控制,速度控制和导航控制三个闭环子系统组成,能够实现车模直立、加速、减速、循迹和避障等各种复杂动作。使用卡尔曼滤波融合陀螺仪和加速度计的输出值得到平衡车倾斜角度,用编码器采集两轮脉冲,以线性CCD来采集道路信息,再通过PID算法处理后的输出值控制平衡车的直立,速度和方向。经过实验和实际比赛验证,这种控制系统能够稳定控制平衡车,行进速度快,抗干扰性能强。

In order to solve the problem of balance control and automatic tracing,the paper studies the control system of two-wheeled selfbalancing car based on automatic tracing by linear CCD,the system composed of three closed loop subsystem including upright control,speed control and navigation control can achieve models upright,acceleration,deceleration,tracking,obstacle avoidance and other complex movements. The inclined angle of self-balancing car was obtained by using Kalman filtering to fuse the output of gyroscope and accelerometer.The pulses of two wheel were collected by encoder. The track information was collected by linear CCD. These information processed by PID algorithm was used to control the upright,speed and direction of the self-balancing car. Through experiment and the actual game,this control system can control the self-balancing car stably,guarantee fast travel speed and strong anti-jamming performance.