两轮自平衡车控制系统的设计和实现_周牡丹.pdfVIP

《自动化技术与应用》2014年第 33卷第 10期 工业控制与应用 Industry Control and Applications 两轮自平衡车控制系统的设计与实现 周牡丹,康 恺,蔡普郎,黄天健 (厦门大学嘉庚学院电子工程系,福建 漳州 363105) 摘 要根据飞思卡尔智能车竞赛的要求: ,设计了基于MC9S12XS128单片机的两轮自平衡智能车控制系统。介绍了该智能车系统的 硬件模块电路设计、控制系统的构成及核心控制算法的实现。在此基础上详细介绍了用于智能车直立控制、速度控制和方向 控制的参数调试时简单易行的关键技术。经过反复多次的实验表明,本文设计的两轮自平衡车控制系统性能可靠,在车身保持 直立平衡的同时能够沿着赛道快速平稳运行． 关键词:两轮自平衡车;PID控制;CCD路径检测;直立控制 中图分类号:TP273 文献标识码:B 文章编号:1003-7241(2014)10-0004-05 Design and Implementation of Two-Wheeled Self-Balancing Vehicle Control System ZHOU Mu-dan, KANG Kai, CAI Pu-lang, HUANG Tian-jian ( Dept.of Electronic Engineering, TKK College, Xiamen University, Zhangzhou 363105 China ) Abstract: For Freescale smart car contest requirements, a two-wheeled self-balancing intelligent vehicle control system based on MC9S12X S128 is designed. This article introduces the design of the hardware module circuit, the structure of control system, and the implementation of the core control algorithm about the vehicle. The key technologies for debugging the upright control, speed control and direction control of the intelligent vehicle are also discussed in the paper. After repeated experiments , it shows that the design of the two-wheeled self-balancing vehicle control system is feasible and reliable. The vehicle can run quickly and smoothly along with the track while maintaining upright balance. Key words: two-wheeled self-balancing vehicle; PID control; CCD path detection; upright control 1 引言 测前进的路径,在直立平衡控制、速度控制和方向控制 近年来,两轮自平衡电动车以其绿色节能、灵活便 均采用经典的数字PID控制算法。本文就自平衡车闭环 捷等优点而得到很大的发展。国内外有很多这方面的 控制算法的单片机编程实现及整车的参数调试等方面 [１][２] 研究及相关的产品 。两