电磁直立寻迹智能车的系统设计与软件开发

System Design and Software Development of Electromagnetic Vertical Tracing Smart Car

自动循迹的两轮自平衡电磁智能车是一个非线性、强耦合、欠驱动的自不稳定一级倒立摆系统。针对该智能车特点,采用两轮自平衡智能车机械架构、主控板、驱动板等模块相结合设计了系统硬件;并利用互补滤波和卡尔曼滤波方式对姿态检测传感器检测到的信号进行处理、以控制智能车直立平衡;最后通过归一化处理将路径检测传感器获得的路径信息与直立平衡控制信号进行融合,在直立平衡基础上实现智能车方向的控制。实验表明,该智能车运行平稳、转向灵活、速度较快。

The automatic tracking of two - wheeled self - balancing electromagnetic smart car is a nonlinear, strong coupled, underactuated and unstable inverted pendulum system. According to the characteristics of the smart car, the hardware of the system is designed by combining the mechanical structure of the two wheeled self balancing intelligent vehicle, the main control board and the drive board, and the signal detected by the attitude sensor is processed by complementary filtering and Kalman filtering to control the upright balance of the intelligent vehicle. Finally, the path information obtained by the path detection sensor is fused with the upright balance control signal through normalization processing, and the intelligent vehicle direction control is realized on the basis of upright balance. Experiments show that the smart car runs smoothly, steers flexibly and fast.