无动量轮双模式纵向两轮平衡车关键技术研究

Key Technology of Dual-Mode and Two-wheeled Longitudinal Balance Car with No Momentum Wheels

研究了无动量轮双模式前后纵向两轮平衡车的关键技术。针对陀螺仪采集的数据进行滑动滤波与互补滤波,优化得到姿态信息;不采用动量轮,设计程序对舵机和电机进行精确控制,以实现平衡车的动态平衡。实验结果表明,该纵向两轮平衡车姿态解算信息准确,控制决策可行,降低了舵机和电机的耦合关系的影响,在多种路面环境下电磁自主循迹与蓝牙遥控两种模式均可满足自平衡的需求。

The key technologies of the front and rear longitudinal two-wheeled balance car of dual mode with no momentum wheel are studied.Sliding filtering and complementary filtering are performed based on the data collected by the gyroscope,and the attitude information is obtained by optimization;without using the momentum wheel,a program is designed to exert a precise control over the steering gear and the motor so as to strike a dynamic balance of the balance car.The experimental results show that the information obtained by attitude calculation is accurate and the control decision is feasible,and it reduces the coupling relationship between the steering gear and the motor.The two modes of electromagnetic autonomous tracking and bluetooth remote control can reach self-balance in the various road conditions.