两轮自平衡电动车  

Two-wheel Self-banlance Vehicle

作　　者：马立华[1] 

机构地区：[1]太原科技大学,山西太原030024

出　　处：《山西电子技术》2014年第5期21-23,共3页Shanxi Electronic Technology

摘　　要：分析了测量角度和角速度传感器的选择,通过Atmega16单片机多路信号AD采集陀螺仪和加速度计的信号,经过Kalman滤波算法计算动态的角度和角速度,通过LCD1602显示角速度和角度的值、转向值。利用PID控制算法控制自平衡车的平衡状态,使车体在平衡位置稳定。利用大功率MOS管设计驱动电路,通过单片机有效地控制电机的转速、电机的转向,从而有效地控制自平衡车的前进、后退及转弯功能。Two-wheel self-balance vehicle whose major advantage is small turning radius shows its superiority in small and crowed place. Lithium battery is used as the vehicle＇ s power supply, which has the features of low power usage and environmental protection. In controlling process, the angle detection and angular velocity is the key. This paper analyzes the choice of angular and angular veloci- ty transducer. It uses Atmegal6 to detect the signals from gyroscope and angular velocity transducer by multiple A/D channels. The Kalman type filter is used for calculating the dynamic angle and angular velocity; the LCD1602 is used for displaying the angle value and the angular velocity value and the PID algorithm is used for controlling the state of the vehicle＇ balance. High-power MOS device is used in driving circuit, which makes Atmegal6 having the ability to control the motor＇s speed and direction, thus effectively control the movement of the vehicle.

关 键 词：ATMEGA16 KALMAN滤波 PID MMA7260 ENC-03MB 

分 类 号：U469.72[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]