基于倒立摆原理的智能平衡车设计

Design of intelligent balance vehicle based on the inverted pendulum theory

本文在一阶倒立摆理论分析与创新的基础上,以飞思卡尔公司推出的MK60FX512VLQ15单片机为平台,设计了一种性价比高、稳定性强的两轮平衡车控制系统。通过对车体速度以及姿态等信息的采集,使用PID算法对平衡车的安全行驶与平稳转向进行控制。同时通过蓝牙模块,将当前速度、姿态控制参数、转向控制参数等数据上传至上位机并保存,便于研究人员掌握小车信息,使系统具有更好的鲁棒性。

In this paper,a two-wheel balance vehicle control system with high performance-price ratio and strong stability has been designed at the platform of Freescale＇s MK60 FX512 VLQ15 microcontroller based on the analysis and innovation of the firstorder inverted pendulum theory. The safe driving and smooth steering of the balance car have been controlled by the PID algorithm through the collection of information such as body speed and attitude. At the same time,the data of the current speed,the parameters of the position control and the turning control can be uploaded to the upper computer and saved through the bluetooth module,which facilitates the researchers to master the information of the car and make the system showbetter robustness.