基于轮球自平衡结构的控制算法实验平台研究

Research on experiment platform of control algorithm based on the self-balanced structure of the wheel-ball

研发了一种基于轮球自平衡结构的控制算法实验平台。平台通过基于arm cortex-m3内核的stm32f103rct6控制芯片实现,具有测速、测姿态、状态提示、指令输入、数据无线反馈等多功能的外设。具有稳固的机械结构,通过步进电机和全向轮实现运动的驱动。具有前、后、左、右移动和偏航、俯仰和横滚角度变化五个自由度,运动灵活,占地小等优点,能够满足多自由度实验和演示的需求。对轮球自平衡结构,建立轴向转换模型,验证了平台上实现控制算法验证实验的可行性。

A control algorithm experiment platform based on the self-balanced structure of the wheel-ball has been developed.The platform is realized by the stm32f103rct6 control chip based on arm cortex-m3 core.It has multifunction peripherals with functions such as speed measurement,attitude measurement,status indication,command input and data wireless feedback and has a solid mechanical structure.It can achieve the movement through the stepper motor and omnidirectional wheel.With front and back,left and right,move and yaw,pitch and roll angle five degrees of freedom,it has the advantage of flexible movement,small footprint,etc.to meet the needs of multi-degree of freedom experiments and presentations.With the self-balancing structure of the ball,an axial conversion model is established and the control principle is expounded.The feasibility of the control algorithm validation experiment on the platform can be verified.