一种基于K60自平衡测量方法的研究及实验

Research and experiment based on K60 self-balance measurement method

针对自平衡车的平衡方法和姿态参数测量问题,利用空间旋转的旋转轴和旋转角度—四元数计算姿态角,采用串级PID控制方法研究自平衡车平衡参数,给出平衡车中各平衡参数的测定实验方法,内环采用增量式PI控制,外环采用位置式PD控制,测量得出最佳内环、外环平衡参数和零点漂移值。自主搭建软硬件平衡试验模型,在K60上实现各方法。实验表明,通过对平衡姿态参数的测定实验,利用四元数、串级PID控制方法设计的自平衡车能够保持平衡。

Aiming at the balance method and attitude parameter measurement of self-balancing module,the rotation angle and rotation angle of space rotation-the quaternion are used to calculate the attitude angle,and the cascade PID control method is used to study the balance parameters of the self-balancing vehicle.Experimental method for determining parameters and optimal balance parameters are decided.Independently set up a balance test system to implement each method on the K60.Experiments show that the self-balancing vehicle designed by quaternion and cascade PID control method can maintain balance by measuring the equilibrium attitude parameters.