两轮自平衡小车毕业设计_修改案例.doc

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，使用卡尔曼各个能协调工作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 1.绪论 1 1.1研究背景与意义 1 1.3本文主要研究目标与内容 3 1.4论文章节安排 3 2.系统原理分析 5 2.1控制系统要求分析 5 2.2平衡控制原理分析 5 2.3自平衡小车数学模型 6 2.3.1两轮自平衡小车受力分析 6 2.3.2自平衡小车运动微分方程 9 2.4 PID控制器设计 10 2.4.1 PID控制器原理 10 2.4.2 PID控制器设计 11 2.5姿态检测系统 12 2.5.1陀螺仪 12 2.5.2加速度计 13 2.5.3基于卡尔曼滤波的数据融合 14 2.6本章小结 16 3.系统硬件电路设计 17 3.1 MC9SXS128单片机介绍 17 3.2单片机最小系统设计 19 3.3 电源管理模块设计 21 3.4倾角传感器信号调理电路 22 3.4.1加速度计电路设计 22 3.4.2陀螺仪放大电路设计 22 3.5电机驱动电路设计 23 3.5.1驱动芯片介绍 24 3.5.2 驱动电路设计 24 3.6速度检测模块设计 25 3.6.1编码器介绍 25 3.6.2 编码器电路设计 26 3.7辅助调试电路 27 3.8本章小结 27 4.系统软件设计 28 4.1软件系统总体结构 28 4.2单片机初始化软件设计 28 4.2.1锁相环初始化 28 4.2.2模数转换模块（ATD）初始化 29 4.2.3串行通信模块（SCI）初始化设置 30 4.2.4测速模块初始化 31 4.2.5 PWM模块初始化 32 4.3姿态检测系统软件设计 32 4.3.1陀螺仪与加速度计输出值转换 32 4.3.2卡