摘要
针对球型机器人运动过程中自平衡差的问题,设计了一种基于单片机的球型机器人控制系统。系统以单片机STM32F103为核心;使用MPU-6050六轴传感器进行姿态检测,采用卡尔曼滤波对加速度计和陀螺仪的数据进行融合;通过编写相应的控制算法程序,有效地改善球型机器人运动过程中的自平衡。最后对球型机器人控制系统进行了试验与调试,结果表明该控制系统的设计方案可行,达到了控制要求。
Aiming at the self-balance difference of spherical robot during its movement,it designs a spherical robot control system based on single-chip microcomputer. The system takes SCM32 F103 as the micro controller core,uses MPU-6050 six-axis sensor for attitude detection,takes Kalman filter to deal with the data fusion of the accelerator and gyroscope,compiles corresponding control algorithm program to effectively improve the self-balance of spherical robot in the process of motion. It carries out experiments and debugging. The results show that the design scheme of the control system is feasible,and meets the control requirements.
作者
吴晗
徐开芸
朱昊
李家钊
Wu Han;Xu Kaiyun;Zhu Hao;Li Jiazhao(School of Automation,Nanjing Institute of Technology,Jiangsu Nanjing,211167,China)
出处
《机械设计与制造工程》
2018年第11期53-57,共5页
Machine Design and Manufacturing Engineering
基金
江苏省高等学校大学生实践创新训练计划项目(201611276021Z)
南京工程学院高等教育研究课题(2017YB11)
南京工程学院教学改革项目(JG201708)