摘要
针对平衡车的电磁巡线问题,设计了一种基于单片机S9KEAZ128AMLK的平衡车电磁巡线运动控制系统。该系统使用BMX055芯片并结合四元数解算转欧拉角的算法实现小车的自平衡,还使用了增量式编码器获取小车的速度并进行控制,同时利用电磁信号放大电路中的两个巡线电感对电磁信号获取实现小车的转向控制。经反复实验,该系统的稳定性较好。
Aiming at the electromagnetic patrol problem of balance car,a control system for electromagnetic patrol movement of balance car is designed based on S9KEAZ128AMLK.The system uses the BMX055 chip and combines the quaternion solution to calculate the euler angle algorithm to realize the self-balancing of the car.It also uses the incremental encoder to obtain the speed of the car to control the speed of the car.At the same time,two patrol inductances in the amplifier circuit of electromagnetic signal are used to acquire the electromagnetic signal to realize the steering control of the car.After repeated experiments, the system is stable.
作者
夏国清
陈华珍
潘醒豪
Xia Guoqing;Chen Huazhen;Pan Xinghao(South China Institute of Software Engineering,Guangzhou University,Guangzhou 510990,China)
出处
《单片机与嵌入式系统应用》
2019年第6期70-74,共5页
Microcontrollers & Embedded Systems
基金
2015年广东省教育厅重点平台及科研项目(青年创新人才类项目(自然科学))——两轮自平衡服务机器人智能控制系统研究(项目编号:2015KQNCX240)
