基于卡尔曼滤波算法的自平衡机器人检测分析

Detection and Analysis of Self Balancing Robot Based on Kalman Filter Algorithm

对立方体机器人姿态的检测也是立方体机器人能够实现单点平衡的重要一环。姿态检测反映了立方体机器人平衡时的姿态角,当立方体机器人姿态角发生改变时,自平衡控制系统接收到姿态角的改变而做出反应,调整动量轮转速转向来保证立方体机器人平衡。将传感器安装在立方体方块上时,随着立方体方块姿态的变化可获得稳定的翻滚角和俯仰角,基本实现立方体机器人的姿态角测量。

The attitude detection of the cube robot is also an important part of the single point balance of the cube robot.Attitude detection reflects the attitude angle of the cube robot when it is in balance.When the attitude angle of the cube robot changes,the self balancing control system responds to the change of the attitude angle and adjusts the rotation speed of momentum wheel to ensure the balance of the cube robot.When the sensor is installed on the cube,the stable roll angle and pitch angle can be obtained with the change of the cube attitude,and the attitude angle measurement of the cube robot is basically realized.