自平衡小车的模型分析与数据处理  

Model analysis and data process of the self-balance car

作　　者：胥芳[1] 倪紫京 占红武[1] 

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310014

出　　处：《浙江工业大学学报》2016年第3期288-291,共4页Journal of Zhejiang University of Technology

基　　金：浙江省科技计划项目(2011R50011-01;2011R50011-05)

摘　　要：以单级倒立摆为数学模型的自平衡小车,对小车模型进行了建模和分析,找出影响自平衡的参数,考虑参数在实际测量中的难易程度进一步筛选出能够实现自平衡所需要的重要参数,依据筛选出的参数确定合适的传感器.对传感器的工作原理和传输的数据进行了详细的介绍和分析,由此得出数据的处理方法.通过实际测量的数据和处理后的数据进行对比,确定了其在精度方面的可靠性,也确信了自平衡小车在移动打印领域的可行性.The self-balance car is built with the single inverted pendulum model.Firstly,building and analyzing the model in order to find the parameters that influence the balance,then in the consideration of difficulty in factual measure,the critical parameters which determine the balance are screened further.With those parameters,the sensors are determined.Then the theory and sensor data are analyzed and processed in detail to obtain the data deal way.Finally,by comparing the measure data and theory data,the reliability of the sensor and the feasibility of self-balance car in mobile printing are verified.

关 键 词：自平衡车 倒立摆模型 加速度计 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]