基于双飞轮陀螺效应的两轮自平衡机器人的研制  

The Development of Two-wheeled Automatic Balance Robot Based on the Gyro-effect of the Double Flywheels

作　　者：李勇[1,2,3] 耿建平[1] 林群煦[2,3] 张弓[2,3] 王卫军[2,3] 

机构地区：[1]桂林电子科技大学,广西桂林541000 [2]广州中国科学院先进技术研究所,广东广州511400 [3]深圳先进技术研究院,广东深圳518055

出　　处：《机电产品开发与创新》2015年第6期14-16,28,共4页Development & Innovation of Machinery & Electrical Products

基　　金：国家自然科学基金(51307170)

摘　　要：鉴于现今已有的平衡技术的不足,论文以飞陀螺效应为理论基础,介绍了两轮自平衡机器人的研制。首先搭建了单飞轮自平衡装置实验平台,基于矢量动力学建立单飞轮自平衡系统的动力学模型;基于PD控制理论推导单飞轮自平衡系统的控制方程组;最后以单飞轮自平衡实验为基础,研制双飞轮陀螺效应的自平衡机器人。以STM32单片机为系统控制核心,以安卓智能手机为遥控平台,以HC-06为车载蓝牙模块,设计两轮自平衡遥控机器人。实验结果表明该机器人具有在一定运动速递时仍具有良好的平衡性能和抵抗外部强烈冲击的特点。In view of the deficiency of the current existing balance technique, this paper introduces the two-wheeled self-balancing robot based on the theory of gyro-effect. First set up the experimental platform for the solo-wheeled self-balancing device, based on the vector dynamic the dynamic model of the balance system is established, based on the PID control the control equations of the balance system is de-rived; Finally based on the solo-wheeled self-balancing experiments, develop the two-wheeled self-balancing robot. Design the two-wheeled self-balancing robot with STM32 as the core of control, with Android smartphones as remote control platform, using HC-06 as the on-board bluetooth module. The experimental results show that the robot performance good balance when it runs and the characteristics of the resistance to external impact.

关 键 词：飞轮陀螺效应 两轮机器人 运动 撞击 自平衡 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]