两轮自平衡小车研究毕业设计论文.docVIP

本 科 毕 业 设 计 题 目 两轮自平衡小车研究 学 院 电子信息工程学院 两轮自平衡小车研究 专 业：自动化 学 号：200910311332 学 生：刘长根 指导教师：罗浚溢 摘要：现在两轮自平衡小车的研究在全世界得到很大的关注。本论文主要工作是对两轮自平衡小车的原理进行研究并且和提出一种设计方案。本次设计方案是采用ENC-03MB陀螺仪传感器和MMA7361LC三轴加速度倾角传感器构成小车的状态检测装置，使用算法使陀螺仪数据和加速度计数据的融合得到小车的倾角，再通过一定的算法使小车保持直立状态。系统采用飞思卡尔公司的DSC 16位处理器XS128单片机为核心控制处理器，完成传感器信号的处理，滤波算法的实现和车身控制等一些任务。在小车制作完成后，各个模块之间能够正常并且协调的工作，小车可以只无人干预的条件下实现自主平衡，运用手机蓝牙可以控制小车的前进、后退、左右转动等各个动作。 关键词：两轮自平衡小车；陀螺仪；加速度倾角传感器；XS128单片机 Research of The Two-wheel Self-balance Car Specialty：Automation Student Number：200910311332 Student：Liu Changgen Supervisor：Luo Junyi Abstract:Now ，the research of two-wheel self-balance car get great attention all over the world.The main job of this paper is to study the principle of the two-wheel self-balance car and put forward a design scheme.This design used ENC-03MB gyroscope sensor and MMA7361LC triaxial acceleration and angle sensor constitute the car status detection device.Using algorithms made fusion of gyroscope data and accelerometer data to get the tilt angle of the car.Then ,through a certain algorithm to make the car keep upright.The system adopted freescale company DSC 16-bit processor XS128 single-chip microcomputer as the control core,it realized the sensor signal processing the sensor signal processing,filtering algorithm and body control and so on.After the car production is completed,each module can be normal and to coordinate work,the car can keep balancing in unmanned control.Using mobile phone Bluetooth can control the car forward,backward,turn right or left,and other actions. Key words：Two-wheel Self-balance Car ；Gyroscope；Angle Acceleration Sensor；XS128 Single Chip Microcomputer PAGE \* MERGEFORMAT PAGE \* MERGEFORMAT II 目 录 TOC \o 1-3 \h \u #define SPEED_INC 1 #define SPEED_DEC 1 void ArgumentInit(void) { g_Argument.nGravityOffset = GRAVITY_OFFSET_DEFAULT; g_Argument.nGyros