独轮车自平衡控制系统实验平台设计

Design of Self-balance Control System Platform of Unicycles

独轮车自平衡控制系统实验平台是针对"微型机器人与C51应用"实践类课程开发的一种嵌入式系统实验平台。该平台由独轮车、嵌入式控制系统以及上位机软件组成。独轮车在静止状态下是不能保持平衡状态的,它需要通过编写单片机程序控制惯性飞轮和行走轮的转动力矩,协调独轮车的横滚方向和俯仰方向的姿态,使得独轮车保持平衡状态。上位机软件通过蓝牙来接收当前独轮车横滚角度以及俯仰角度,并设置嵌入式系统中控制算法的参数。该平台有助于学生深入了解嵌入式系统的设计以及程序开发,有利于培养学生的工程实践能力。

An experimental platform of self-balance control systems of unicycles,which is an embedded experimental platform,is developed for the class ＂ Small Robot and Applications of C51 ＂. This platform consists of a unicycle,an embedded control system,and an upper software. At normal conditions,a unicycle cannot keep balance without control input; however,it can keep balance by controlling angular moments of flywheel and moving wheel at the roll axis and pitch axis. The upper software is used to receive angle information of flywheel and moving wheel and to set the parameters of control algorithm in embedded systems. The platform is helpful for students to learn the design of embedded systems and programming. Moreover,the platform is also helpful for students to train their engineering ability.