二轮自平衡车的设计与制作设计说明书.docVIP

XX（设计） PAGE IV 二轮自平衡车的设计与制作 摘要 随着科学技术的发展，人们的交通出行工具越来越多样化。近几年来，二轮自平衡车越来越多的出现在人们的视线里。人们对二轮自平衡车的研究也越来越深入，研究成果也在不断问世，进而也推动了二轮自平衡车的迅猛发展。本文结合二轮车现有技术，设计了一种二轮自平衡车的制作方案。整个系统采用飞思卡尔16位单片机MC9S12XS128位核心控制器，采用MEMS加速度传感器MMA7260和陀螺仪ENC-03搭建二轮车姿态检测装置，结合卡尔曼滤波完成加速度计数据和陀螺仪数据的融合，实现车身控制、传感信号处理和人机交互等功能。 整个小车设计制作完成后，在各个模块的协调配合下，可以实现自平衡，同时，在遇外界干扰时小车可以自主调整并快速恢复平衡稳定状态，在此基础之上，实现小车的前进、后退、拐弯和爬坡等基本功能。 关键词：陀螺仪，加速度计，卡尔曼滤波 Design and Production of The Simple Segway Abstract With the development of science and technology, people increasingly diverse traffic travel tool. In recent years, the simple segway more and more in peoples line of sight. Study of the simple segway people are increasingly car-depth research has also been published, and thus also contributed to the rapid development of the simple segway. In this paper, two-wheeled vehicle prior art, the design of a the simple segway production program. The system uses the Freescale 16-bit microcontroller MC9S12XS128 core controller, using MEMS acceleration sensor MMA7260 and gyroscope ENC-03 to build the simple segway attitude detection means complete Kalman filter data accelerometer and gyroscope data integration, to achieve body control, sensor signal processing and interactive functions. After the design is completed the entire car, in coordination with the various modules can achieve self-balance, while, in the case of external interference can independently adjust the car and quickly restore equilibrium steady state, on this basis, to achieve the car forward and backward , turning and climbing and other basic functions. Keywords: sgyroscopes, accelerometers, Kalman filter 目录 TOC \o 1-3 \h \z \u 二轮自平衡车的设计与制作 I 1绪论 1 1.1研究背景 1 1.2研究意义 2 1.3二轮自平衡车的关键技术 2 1.3.1系统设计 2 1.3.2姿态检测系统 2 1.3.3控制算法 2 1.4本文主要研究目标与内容 2 2 系统原理分析 4 2.1控制系统分析 4 2.2平衡控制原理分析 4 2.3 PID控制器原理设计 5 2.3.1 PID控制器原理 6 2.3.2 PID控制器设计 6 2.4姿态检测系统 7 2.4.1加速度计 7 2.4.2陀螺仪 8 2.4.3基于卡尔曼滤波的数据融合 8 2.5本章小结 9 3 系统硬件电路设计 10