双轮自平衡机器人的移动控制系统设计.docVIP

摘 要 论文主要是构建一个两轮小车的平衡模型。研究发现模型要实现自平衡,需要解决系统固有的动力学特性——多变量、非线性、强耦合、参数相互关联等许多问题，同时两轮比四轮更节能、方便等，因而具有较大发展前景和研究价值。 论文主要构建一个类似倒立摆的单摆模型，建立模型的控制传递函数，分析系统零极点分配规律，通过反馈控制使系统满足稳定性、快速性、准确性的要求。在反馈控制中需要用到速度反馈和角度反馈。涉及的速度和角度反馈控制主要采用PID控制，且系统为离散系统，需要数字增量式PID控制。按照偏差的比例、积分、微分控制系统，使系统可以自动调节，找到系统需要的被控参数，并不断更新参数，使小车在动态中达到平衡。同时速度和角度测量都是采用惯性传感器，测量值与真实值有差别，容易受到外界和本身的电压和电磁干扰，测量的数据变化较大，若直接使用会使小车震动进而影响系统的稳定性。需要对测量数据进行滤波和数据融合，通过滤波可以使数据平滑，通过数据融合可以使测量数据的零漂和动态误差更小，最终使控制系统更稳定。在本设计中主要研究当前比较普遍的卡尔曼滤波、互补滤波以及数据的权重等。综合上述原理基本解决系统强耦合、多变量、非线性、参数相互关联的问题，使机器人自平衡。 还设计了红外传感器模块检测黑白线辨识方向，从而实现智能循迹。整个系统用STC12C5A60S2作为控制核心，基本完成各项任务。 关键字：自平衡小车 ，PID控制 ，卡尔曼滤波 ，互补滤波 ，STC12C5A60S2 Abstract This paper is mainly to construct a balance model of two rounds of the car.Studies have found that this model in order to realize the balance and inherent dynamic characteristics of the system need to be solved, multi-variable, nonlinear, strong coupling, parameters of interconnected many problems, such as, at the same time two than four-wheeled more energy efficient, convenient, etc., thus has larger development foreground and research value. The thesis is mainly to build a simple pendulum model of inverted pendulum, analogy model of the control transfer function, the analysis of system zero pole allocation rule, through feedback control system to meet the requirements of the stability, quickness and accuracy.Need to use in the feedback control speed feedback and angle feedback.Involved in the speed and angle feedback control mainly adopts PID control, and the system for discrete systems, digital incremental PID control.According to the deviation of proportion, integral and differential control system, the system can automatically adjust, find the accused system need parameter, and constantly update parameter, make the car in dynamic equilibrium.Inertial sensor uses speed and angle measurement are all at the same time, is there a difference measured values and the real value, the voltage and the electromagnetic interferenc