双轮自平衡机器人机械及电气控制系统设计与实现研讨.doc

两轮自平衡机器人是一种轮式移动机器人，本文的电路设计上，采用模块化的设计思想。将整个系统分为最小系统板、信号采集模块、信号初步处理模块等若干模块轮自平衡智能车动力学系统具有多变量、非线性、强耦合参数定等，以陀螺仪、加速度计姿态传感器来监测车身所处的俯仰状态和状态变化率，线阵CCD路径探测传感器中央处理器出数据指令，路径识别算法和平衡算法驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果 Wheeled robot mechanical and electrical control system design and implementation Author： Tutor：Abstract Two-wheeled self-balancing robot is a wheeled mobile robot, has a simple structure, flexible movement, low cost and so on, can work in hazardous confined space, has a relatively wide range of applications, has become a new hot spot in the field of robotics research. This paper briefly describes the current research, based on Newtonian mechanics use to build their system models, and analyze the two-wheeled self-balancing robot kinematics. Depth study of two-wheeled self-balancing robot upright basic principles of the movement, and on the basis of the design of its mechanical structure, control systems and control algorithms. In this paper, circuit design system based on a modular design concept. The whole system is divided into several modules minimum system board, signal acquisition module, the initial signal processing module. Individually tested and guaranteed under the various modules in the correct premise, to be used in combination. As the two-wheeled self-balancing intelligent vehicle dynamics system with multivariable, nonlinear, strong coupling and parameter uncertainty characteristics, this paper gyroscopes, accelerometers as attitude sensors to monitor the state of the pitch and rate of change of the state in which the body line CCD array as a two-wheeled self-balancing robot path detection sensors, the central processor computing Good for data and instructions, use the appropriate path identification algorithm and balancing algorithm drives the motor forward or backward acceleration to achieve a balanced body before and after effect. Key Words: Two self-balancing robot, Linear array CCD, Mathematical modeling, Mechanica