一种基于竞赛的两轮自平衡小车的设计  

Design of a two-wheel self-balanced vehicle for race

作　　者：周牡丹[1] 陈庆利[1] 康若鹏 陈泽坤[1] 

机构地区：[1]厦门大学嘉庚学院电子工程系,福建漳州363105

出　　处：《现代电子技术》2014年第20期70-73,79,共5页Modern Electronics Technique

摘　　要：介绍一种两轮自平衡智能小车控制系统的实现方案。该系统以MC9S12XS128单片机作为主控芯片,采用一组激光传感器进行路径检测,使用ENC-03MA陀螺仪与MMA7361加速度计进行小车直立自平衡检测,利用BTS7960芯片进行电机驱动,使用增量式编码器进行速度检测,借助滑动电阻器和液晶屏对参数进行调整与观测。在软件方面,结合PWM技术和PID控制技术对小车的两个直流电机的转速进行控制,可以实现两轮小车的动态自平衡快速寻迹运行。实践表明该设计达到了理想效果。An implementation scheme of control system for two-wheel self-balanced intelligent vehicle is introduced in this paper. In the system,MC9S12XS128 is used as a master microcontroller,some laser sensors are used to detect the path,ENC-03MA gyroscope and MMA7361 accelerometer are used for upright self-balanced detection of the vehicle,the chip BTS7960 is employed to drive the motor,the incremental encoder are used for the speed detection,and sliding resistors and LCD screen are utilized to adjust and observe the parameters. The speed of the two DC motors in the vehicle is controlled with PWM technology and PID control technology,so as to achieve the dynamic self-balance and fast tracking of the vehicle.

关 键 词：自平衡智能小车 两轮小车 直立控制 寻迹 

分 类 号：TN710-34[电子电信—电路与系统]