摘要
在深入研究嵌入式操作系统的基础上,提出了基于STM32的自平衡独轮车设计方案,实现在狭小和危险的空间内工作等特殊环境进行自动行驶和控制。对国内外目前自平衡小车的研究经验加以分析,结合独轮车研究设计经验提出采用STM32为控制核心,驱动器选用无刷直流电机,利用陀螺仪和加速度计传感器检测车体的斜角度和角速度,运用卡尔曼滤波算法将加速度计和陀螺仪的数据进行融合,在机械结构设计上加入防震结构。此外采用数字PID控制算法来提高系统的性能,实现独轮车的自平衡控制。
The design is based on the in-depth study on embedded operating system, a self balancing one- wheeled vehicles design scheme based on STM32, realized automatic driving and control of special environ- ment in narrow and dangerous space work etc. On the current domestic and international research experience from the balance of the car was analyzed, combined with the design experience wheelbarrow proposed by STM32 as the control core, drive with BLDC motor, oblique angle by gyro and accelerometer sensors detect body and angular velocity, using the Kalman filter algorithm fusion of accelerometer and gyroscope data, add shock structure in the mechanical structure design. In addition, the design of digital PID control algorithm to improve the performance of the system, self-balancing control wheelbarrow.
出处
《微电机》
2017年第2期55-59,共5页
Micromotors
基金
2015年度湖北省教育厅科研计划指导性项目"多传感器数据融合技术在独轮车避障中的应用"(B2015196)
关键词
独轮车
PID控制
卡尔曼滤波
one-wheeled vehicle
PID algorithm
Kalman filter
