基于粒子滤波算法的自平衡两轮电动车设计与研究  

Based on the self-balancing two-wheeled electric car of the particle filter algorithm design and research

作　　者：陶模[1] 李俨[1] 谢兰[1] 张守旭[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《电子设计工程》2013年第21期95-97,共3页Electronic Design Engineering

摘　　要：智能自平衡两轮电动车是典型的非线性系统,智能自平衡两轮电动车是一种两轮式左右并行布置结构的自平衡系统,要在各种状态下保持动态平衡。采用超声波、陀螺仪传感器及其他传感器实现增稳系统。智能自平衡两轮电动车是严重非线性、非高斯系统,传统滤波算法无法解决传感器噪声问题,粒子滤波是一种基于Monte Carlo思想的非线性、非高斯系统滤波算法,完全突破Kalman滤波理论框架,它对系统的过程噪声和量测噪声没有任何限制。Intelligent self-balancing two wheels electric car is a self-balancing system that has around parallel arrangement of structure,to maintain dynamic equilibrium in various state.Using ultrasound,gyro sensor and other sensors to achieve stability augmentation system.Intelligent self-balancing two Wheels electric car is a serious non-linear,non-Gaussian system,Traditional filter algorithm can not solve the problems of sensor noise,The particle filter is a non-linear,non-Gaussian system filtering algorithm based on Monte Carlo thinking,completely breakthrough the framework of the Kalman filtering theory,It has no restrictions on system process noise and measurement noise.

关 键 词：自平衡 非线性 粒子滤波 重采样 递推贝叶斯估计 

分 类 号：TN6[电子电信—电路与系统]