自动平衡同轴双轮电动小车系统设计.docVIP

自动平衡同轴双轮电动小车系统设计 - PAGE 36 - - PAGE I - 自动平衡同轴双轮电动小车系统设计 Design of Automatic Balance Coaxial Double Electric Car System 学生学号： 学生姓名： 专业班级： 指导教师： 职 称： 起止日期： 2  摘 要 本课题旨在研制一种自平衡同轴双轮自平衡小车。该系统是一种两轮左右平行布置的单人电动车，像传统的倒立摆一样，本身是一个自然不稳定体，必须施加强有力的控制手段才能使之稳定。由于它的行为与火箭飞行以及两足机器人行走有很大的相似性，因而对其进行研究具有重要的理论和实践意义。 系统以姿态传感器（陀螺仪、加速度计）来检测侧身所处的俯仰状态和状态变化率，通过高速中央处理器计算出适当数据和指令后，驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。控制技术是运动控制的核心，在实际生产实践中应用最普遍的是各种以PID为代表的基本控制技术。按照偏差的比例、积分和微分进行控制的调节器，简称为PID调节器，是连续系统中技术成熟且应用广泛的一种调节器。本文对系统用到的PID控制技术做了相应的研究，从理论上分析了变积分的PID控制技术的优势，并在系统的实际测试中获得了良好的效果。 关键词 ：自平衡；陀螺仪；加速度计；PID控制 - PAGE 37 - Abstract In this thesis, a two-wheeled vehicle with the characteristic of self-balancing was developed. For the prototype design, the vehicle is arranged by two paralleled wheels and powered by electric motor, which is an unstable object needed force to keep balance, just as the traditional ‘inverted pendulum’. Since the action principle is similar to rocket flying and robot waking, this research is meaningful for the theory and practice. According to the inertial sensor (gyroscope, accelerometer ),the monitoring data of pitching state changing are input into the MCU(Micro Control Unit)calculation for the acceleration commands to drive the motor forward/backward for the balance keeping. Control technique is the core of vehicle movement, which is typical with PID (Proportion Integration Differentiation) technique in practice. PID moderator is a technology-matured moderator for wide application in continuous system, which based on deviation proportion, integration and differentiation. In this thesis, PID control technique was detailed investigated in theory, especially for the advantages of PID variational integralion, and finally well-performance was achieved in the application. Key words: self-balance; gyroscope; accelerometer; PID 目 录 TOC \o 1-3 \h \z 摘 要 I Abstract II 第1章 绪 论 1 1.1前言 1 1.2自平衡同轴双轮小车的研究意