基于新型惯性传感器的两轮自平衡车的设计

Design of a two-wheeled self-balancing vehicle based on novel inertial sensors

两轮自平衡车是检验各种控制算法的理想平台之一。设计了两轮自平衡车的实验平台,车体姿态数据采集采用新型加速度传感器和陀螺仪传感器组合,型号分别为ST公司的LIS331DLH和L3G4200D。姿态检测数据融合算法采用卡尔曼滤波算法,系统控制算法采用倾角环,角速度环与电流环的PID控制方法。最后,制作了两轮自平衡车的原型,并给予了初步运动控制验证。该实验平台能够初步实现自平衡功能,后续的研究将着重对各种控制算法在该平台的验证研究。

The two-wheeled self-balancing vehicle is one of the ideal experimental platforms to test various control algo- rithms. An experimental platform of the two-wheeled self-balancing vehicle was designed. A novel combination of the accelera- tion sensor and the gyroscope sensor is used for the vehicle attitude data acquisition. Their models are LIS331DLH and L3G4200D made by ST Company. Kalman filter algorithm is adopted in vehicle attitude detection data fusion. The PID control method of the angle loop, the angular loop and the current loop is adopted as the system control algorithm. A prototype of two- wheeled self-balancing vehicle was manufactured, and its motion control was preliminarily verified. The experimental platform can preliminarily realize the self-balancing function, and future studies will focus on the validation of various control algorithms on the self-balancing vehicle experimental platform.