两轮同轴自平衡机器人多传感集成控制

Multi-Sensor Integrated Control of Two-Wheel Coaxial Self-Balancing Robot

针对自平衡机器人姿态检测的复杂性,提出了基于陀螺仪和加速度计联合检测的方法,采用双重滤波算法-卡尔曼滤波和DMP(Digital Motion Processing)滤波,准确获取机器人的姿态信息。针对控制过程姿态的多变性,提出了基于PID算法的三闭环反馈控制策略,且创造性地把超声波和红外传感器相结合,实现了机器人的自平衡、前进后退、转向和自主跟随等控制。通过爬坡和自主跟随实验测试,结果表明该机器人时间响应快、灵活性大、稳定性好。

Aiming at the complexity of attitude detection for self-balancing robot, a method based on gyroscope and accelerometer joint detection is proposed. Kalman filter and DMP(Digital Motion Processing) filter are used to accurately obtain the attitude information of the robot. For the variability of attitude in the control process, a three-closed-loop feedback control strategy based on PID algorithm is proposed, which combines the ultrasonic and infrared sensors creatively and achieves the self-balancing, forward and backward, steering and self-following control of the robot. The experimental results of climbing and autonomous following show that the robot has fast time response, great flexibility and good stability.