互补滤波技术在自平衡机器人中的应用

Application of Complementary Filtering Technique in Self-balancing Robot

首先在理论上建立了自平衡机器人的动力学模型。基于PD控制算法,开发保持自平衡机器人直立的控制算法,并设计相应的控制器。利用模拟量输出的陀螺仪ENC03和加速度计MMA7361两个传感器分别测量角速度和角加速度,再采用互补滤波技术实时获得自平衡机器人的角度。在实验部分,自平衡机器人的机械结构使用普通小功率直流电机,驱动芯片使用BTS7960大电流半桥芯片,以ColdFrie MCF52255芯片作为控制器,采用蓝牙模块进行数据传输。将编写好的程序烧写到32位飞思卡尔单片机中,实现对自平衡机器人的控制,通过实时采集数据验证所开发的程序和算法的合理性。实验结果验证了所设计自平衡机器人的机械结构与硬件电路的合理性。

A dynamic model of the self-balancing robot was first established. Based on PD（proportional differential） control algorithm, a control algorithm was developed to keep the self balancing robot erect and the corresponding controller of the self-balancing robot was designed. The gyrostat sensor ENC03 and the accelerometer sensor MMA7261 were employed to measure the angular speed and angular acceleration respectively. Then the complementary filtering technique was used to calculate the angle of the self-balancing robot. In the experiment, miniwatt DC （direct current） motor was used in the mechanical structure of the self balancing robot, large current half-bridge chip BTS7960 as the driver chip, ColdFire MCF52255 as the control chip, and bluetooth module for data transmission. The program was downloaded to the 32-bit control chip to control the self-balancing robot. The validness of the developed algorithm/program was verified by the collected real time data. The experiment results show that the proposed mechanical structure and hardware circuit for the sel^balancing robot is reasonable and valid.