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自平衡小车设计

摘要

这些年来，两轮自平衡车的应用获得了十分快速的应用和发展。本文提出了一种两轮的自平衡小车的设计，采用陀螺仪ENC-03以及MEMS加速度传感器MMA7260构成小车姿态检测装置，使用卡尔曼滤波完成陀螺仪数据与加速度计数据的数据融合。系统选用飞思卡尔16位单片机MC9S12XS128为控制核心，完成了传感器信号的处理，滤波算法的实现及车身控制，人机交互等。

整个系统在制作完成后，各个模块之间能够协调工作，小车也可以在无人干预的条件下达到自主平衡。同时在引入适量的干扰情况下小车也能够自主调整状态并迅速恢复稳定的状态。小车可以被控制实现前进、后退、左右转向等动作。

关键词：自平衡 stm32 姿态 滤波

Design of Self-Balance Vehicle

Abstract

In recent years, the application of two wheeled self balancing vehicle has been very rapid application and development. In this paper, we propose a two rounds of self balance car design, car attitude detection device by gyroscope enc-03 and MEMS accelerometer MMA7260 and Kalman filtering is used to complete data of a gyroscope and accelerometer meter data fusion. The system selects the flying thought Carle 16 bit single chip microcomputer MC9S12XS128 as the control core, completed the sensor signal processing, the filter algorithm realization and the vehicle body control, human computer interaction and so on.

After the completion of the entire system, the various modules can work in coordination, the car can also be under the conditions of unmanned intervention to achieve self balancing. At the same time in the introduction of the amount of interference in the case of the car can also adjust the state and quickly return to a stable state. The car can be controlled to achieve forward, backward, left and right steering and so on.

Key Words: Two-Wheel Self-Balance; Gyroscope; Gesture detection; Kalman filter; Data fusion

目 录

TOC \o "1-3" \h \z \u HYPERLINK \l "_Toc324072284" 1.绪论 PAGEREF _Toc324072284 \h 1

HYPERLINK \l "_Toc324072285" 1.1研究背景与意义 PAGEREF _Toc324072285 \h 1

HYPERLINK \l "_Toc324072291" 1.3本文主要研究目标与内容 PAGEREF _Toc324072291 \h 1

HYPERLINK \l "_Toc324072292" 1.4论文章节安排 PAGEREF _Toc324072292 \h 2

HYPERLINK \l "_Toc324072293" 2.系统原理分析 PAGEREF _Toc324072293 \h 3

HYPERLINK \l "_Toc324072294" 2.1控制系统要求分析 PAGEREF _Toc324072294 \h 3

HYPERLINK \l "_Toc324072295" 2.2平衡控制原理分析 PAGEREF _Toc32407