单轴双轮自平衡小车的设计研究  

Design of uniaxial two-wheel self-balancing vehicle

作　　者：戴伟[1,2] 岳明[1] 肖鹏程[1] 张跃杰[1] 

机构地区：[1]湖北第二师范学院物理与机电工程学院,湖北武汉430205 [2]中国科学院武汉物理与数学研究所,湖北武汉430071

出　　处：《物理实验》2014年第12期19-23,27,共6页Physics Experimentation

基　　金：湖北省自然科学基金项目(No.2014CFB428)

摘　　要：通过物理建模得到了单轴双轮自平衡系统的运动学特性,并结合传感器技术和自动控制理论提出了新的单轴双轮自平衡小车的设计方案.采用陀螺仪和加速度传感器分别对车体倾角进行检测,利用对称互补滤波算法对检测到的数据进行融合得到精确的车体倾角,再引入PID技术对车体姿态进行精确控制.设计的单轴双轮自平衡小车车体的倾角的获取不依赖于小车所处的环境,可在实验过程中调整参量,具有普遍的适用性.The kinematic characteristics of the uniaxial two‐wheel self‐balancing system were ob‐served by physical modeling ,and a design scheme of a uniaxial two‐wheel self‐balancing vehicle was presented ,combining sensor technology and automatic control theory . Gyroscope and acceleration sensor were respectively adopted to test the tilt angle .The data were fused applying the complementa‐ry symmetry filtering algorithm .Accurate tilt angle was obtained and the posture was precisely con‐trolled by the PID technology .The tilt angle measurement was resistant to environmental interfer‐ence ,the experimental parameters were adjustable ,and both led to the general design applicability .

关 键 词：自平衡 陀螺仪 简易对称互补滤波器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]