摘要
针对自行车在运动过程中因自身不精确的系统模型和外界扰动等因素导致的车体不稳定甚至倾倒的问题,模拟自行车结构,设计了一种前后两轮的自平衡电单车控制系统.该系统采用卡尔曼滤波对MPU6050原始数据进行处理,系统的可行性得到了分析验证.在建立电单车物理模型后,选择位置式PID算法控制舵机,实现了电单车姿态的快速调整,最终使系统能够运行稳定.
In order to reduce likely influences of inaccurate system models and external disturbances during the movement of the bicycle,a self-balancing motorcycle control system with front and rear wheels is designed.The Kalman filter is used to process the original data of MPU6050,and its feasibility is verified by analysis.After establishing the physical model of the motorcycle,the position PID algorithm is selected to control the steering gear,which realizes a rapid adjustment of the attitude of the motorcycle,and finally makes the system run stably.
作者
刘展志
王彦栋
张宁
李鑫
LIU Zhanzhi;WANG Yandong;ZHANG Ning;LI Xin(School of Electrical and Automation Engineering,Changshu Institute of Technology,Changshu 215500,China)
出处
《常熟理工学院学报》
2023年第2期48-52,共5页
Journal of Changshu Institute of Technology
关键词
卡尔曼滤波
姿态检测
舵机控制
PID算法
Kalman filter
attitude detection
steering gear control
PID algorithm
