面向两轮平衡机器人姿态检测系统的研究与设计

Research and Design of Attitude Detection System Based on Two-Wheeled Balanced Robot

以两轮平衡车的平衡姿态研究为背景,提出了一种基于陀螺仪与加速度计的两轮平衡机器人的姿态检測系统,对姿态检測系统的原理、组成及数据采集进行了研究。通过对各传感器输出信号特征的提取、分析,将PID控制算法与卡尔曼滤波思想相结合,实現了数据融合,从而有效地提高姿态检测系统的检测精度。经过软硬件的综合调试取得了良好的效果,并应用到实际的机器人姿态检测。

The research of the balance posture of two-wheel balance car is taken as background.A two wheeled balanced robot attitude detection system based on gyroscope and accelerometer is proposed.The principle,composition and data acquisition of the posture detection system are also studied.Through the extraction and analysis of the output signals of each sensor,the PID control algorithm and the Kalman filter are combined to complete the data fusion,which can effectively improve the detection accuracy of the posture detection system.After the hardware and software integrated debugging,good results have been achieved,and applied to the actual robot attitude detection.