两轮直立自平衡车的设计

Design of Two-wheeled Upright Self-balancing Car

该文提出了一种两轮直立自平衡车的设计方案.采用陀螺仪判断小车的原有姿势状态,加速度传感器计算车体的倾斜角度,滤波算法抵消原有角度的倾斜,采用XS128处理器处理数据和控制小车,最终达到车体的平衡.实验结果表明:小车自行保持直立,并且具有较好的回复平衡能力.该车是验证各种控制算法的理想平台,具有一定的应用前景.

This paper proposes the design for a two-wheeled upright self-balancing car.In the proposed scheme,gyroscope is used to analyze the original posture state of the car and the inclination angle of the car body is calculated using acceleration sensors.Filtering algorithms are used to offset the tilt of the original angle and the XS128processor is used to process the data and control the car.Finally the balance of the car body is achieved.The experimental results show that the car can remain upright by itself and has the ability to restore the balance well.This car can be an ideal platform to verify various control algorithms and has certain application prospect.