毕业设计（论文）-基于单片机的两轮自平衡车控制系统设计精选.docxVIP

基于单片机的两轮自平衡车控制系统设计摘要两轮自平衡车是一种高度不稳定的两轮机器人，就像传统的倒立摆一样，本质不稳定是两轮小车的特性，必须施加有效的控制手段才能使其稳定。本文提出了一种两轮自平衡小车的设计方案，采用重力加速度陀螺仪传感器MPU-6050检测小车姿态，使用互补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STC公司的8位单片机STC12C5A60S2为主控制器，根据从传感器中获取的数据，经过PID算法处理后，输出控制信号至电机驱动芯片TB6612FNG，以控制小车的两个电机，来使小车保持平衡状态。整个系统制作完成后，小车可以在无人干预的条件下实现自主平衡，并且在引入适量干扰的情况下小车能够自主调整并迅速恢复至稳定状态。通过蓝牙，还可以控制小车前进，后退，左右转。关键词：两轮自平衡小车加速度计陀螺仪数据融合滤波PID算法Design of Control System of Two-Wheel Self-Balance Vehicle based on MicrocontrollerAbstractTwo-wheel self-balance vehicle is a kind of highly unstable two-wheel robot. The characteristic of two-wheel vehicle is the nature of the instability as traditional inverted pendulum, and effective control must be exerted if we need to make it stable. This paper presents a design scheme of two-wheel self-balance vehicle. We need using gravity accelerometer gyroscope sensor MPU6050 for the inclination angle of vehicle, and using complementary filter for the data fusion of gyroscope and accelerometer. We choose an 8-bit microcontroller named STC12C5A60S2 from STC Company as main controller of the control system. The main controller output control signal, which is based on the data from the sensors, to the motor drive chip named TB6612FNG for controlling two motors of vehicle, and keeping the vehicle in balance. After the completion of the control system, the vehicle can achieve autonomous balance under the conditions of unmanned intervention, the vehicle can adjust automatically and restored to a stable state quickly in the case of giving appropriate interference as well. In addition, we cancontrol the vehicle forward, backward and turn around.Key words: Two-Wheel Self-Balance Vehicle; Accelerometer; Gyroscope; Data fusion; Complementary filter; PID algorithm1 绪论11.1自平衡小车的研究背景11.2 自平衡小车研究意义11.3 论文的主要内容22 课题任务与关键技术22.1 主要任务22.2关键技术22.2.1 系统设计22.2.2 数学建模22.2.3姿态检测32.2.4 控制算法33 系统原理分析33.1 控制系统任务分解33.2 控制原理43.3 数学模型54 系统硬件设计64.1 STC12C5A60S2单片机介绍74.2 电源管理模块84.3 车身姿态感应模块94.3.1 加速度计104.3.2 陀螺仪124.4 电机驱动模块144.5 速度检测模块16