两轮自平衡机器人角度检测数据融合算法  

Angular-detecting data fusion algorithm of self-balance dual-wheel robot

作　　者：姜香菊[1] 刘二林[2] 

机构地区：[1]兰州交通大学自动化与电气工程学院,兰州730070 [2]兰州交通大学机电工程学院,兰州730070

出　　处：《计算机工程与应用》2013年第8期203-205,共3页Computer Engineering and Applications

基　　金：甘肃省青年科技基金(No.1208RJYA019)

摘　　要：分析了采用单一传感器检测动态角度时存在的信号失真问题;采用了双传感器数据融合方法对加速度传感器检测到的角度进行数据处理,消除了信号中的干扰成分;在Matlab环境中对所采用的算法进行了仿真,并分析了仿真结果;在对两轮自平衡机器人控制过程中,将数据融合算法移植到了单片机中;利用加速度传感器及陀螺仪,完成了对角度的检测,被控系统的正常工作和检测数据验证了所采用算法的合理性及有效性。The problem of dynamic angle detecting through sole sensor is analyzed. A dual-sensor data fusion technique is used to process the obtained angular data. This data fusion algorithm is simulated in Matlab and the simulation result is analyzed. In the process of dual-wheel self-balanced robot controlling, the data fusion algorithm is transplanted into MCU. Correct signal can be received through data fusion and the data is obtained from accelerometer sensor-MMA7260 and gyrostat sensor-MB54. The data coming from control system through experiment shows the validity and rationality of the algorithm.

关 键 词：机器人 自平衡 数据融合 加速度传感器 陀螺仪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]