基于单片机的两轮自平衡小车设计.docxVIP

PAGE \* MERGEFORMAT II 基于单片机的两轮自平衡小车的研究与设计 摘 要 现如今，两轮自平衡车的发展和应用越来越广泛，而且逐步成为人们的一种非常便捷的代步交通工具，在一些其他的领域也有较好的应用前景。因此，对于两轮自平衡小车的研究具有非常重要的意义。 本论文介绍了基于单片机的两轮自平衡小车的研究与设计。用单片机作为中央处理器，利用MPU-6050作为两轮自平衡小车的姿态传感器来获得小车的倾角和加速度，利用编码器来获得小车的速度，将所获得的这些数据经过单片机的软件PID算法处理，最后由单片机实现对小车的电机进行PWM控制，实现对两轮自平衡小车的直 关键词：单片机，姿态传感器，PID，PWM控制 Research and design of two wheel self balanced vehicle based on single chip microcomputer Abstract Now, the development and application of two wheeled self balanced vehicle is more and more widely, and gradually become a very convenient means of transportation, in some other areas also have good application prospects. Therefore, the research on two wheeled self balanced vehicle has very important significance. This paper introduces the research and design of a two wheel self balancing car based on single chip microcomputer. With single chip microcomputer as the central processor, the MPU-6050 as a two wheel self balancing vehicle attitude sensor to obtain the inclination and the acceleration of the car and use the encoder to get the car speed, will receive the data through the software of SCM PID algorithm processing, finally by the MCU to achieve the motor of the car carrying out PWM control, to achieve the balance of the car upright and balance control of two wheeled self. Key words: Single chip microcomputer, attitude sensor, PID, PWM control PAGE \* MERGEFORMAT I 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc453531323 摘 要 PAGEREF _Toc453531323 \h II HYPERLINK \l _Toc453531324 Abstract PAGEREF _Toc453531324 \h III HYPERLINK \l _Toc453531325 第 1 章 绪 论 PAGEREF _Toc453531325 \h - 1 - HYPERLINK \l _Toc453531326 1.1论文研究的背景及意义 PAGEREF _Toc453531326 \h - 1 - HYPERLINK \l _Toc453531327 1.2 国内和国外的研究现状 PAGEREF _Toc453531327 \h - 1 - HYPERLINK \l _Toc453531328 第 2 章 系统设计原理分析 PAGEREF _Toc453531328 \h - 3 - HYPERLINK \l _Toc453531329 2.1 平衡控制原理分析 PAGEREF _Toc453531329 \h - 3 - HYPERLINK \l _Toc453531330 2.2 两轮平衡小车数学建模 PAGEREF _Toc453531330 \h - 3 -