两轮车姿态检测稳定性研究

Research on The Stability of Two-Wheeled Vehicle Attitude Detection

姿态测量是两轮自平衡车控制系统设计的重要环节。由于单个传感器存在的精度低、易出现故障等缺点,不能获得精确的车身倾角值,两轮车的运动控制系统将无法正常工作。为提高两轮自平衡车姿态测量的准确性、稳定性和可靠性,采用多传感器姿态采集系统并设计了一种权值可调的分布式数据融合算法,根据各传感器参与融合作用的大小,计算出相应的融合系数,根据不同时刻传感器对车身倾角测量的精度变化更新融合权值,从而得到准确可靠的倾斜角度。实验结果表明,上述数据融合算法在两轮车平稳运行及动态调整过程中均能够获得准确的融合角度值,并能克服部分传感器异常的问题,对平衡车姿态测量稳定性有很大的保障。

Attitude detection is an important part of the design of the two- wheeled self- balancing vehicle control system. Due to the low accuracy of single sensor,the accurate body angle value cannot be obtained,and the control system will not work properly. A distributed data fusion algorithm is proposed,which is based on the different sensors to improve the accuracy,stability and reliability of the two- wheeled self- balancing vehicle attitude detection. According to the size of the fusion effect of each sensor,the corresponding fusion coefficient is calculated. According to the change of the accuracy of the sensor,fusion weights are updated. The experimental results show that the data fusion algorithm can obtain accurate fusion angle value and can overcome the problem of partial sensor anomaly,which can guarantee the stability of the attitude detection of the vehicle.