基于单片机的两轮自平衡小车的设计  

Design of Two Wheeled Self Balancing Car Based on MCU

作　　者：魏雅[1] WEI Ya(Shanxi Polytechnic Institute , Xianyang 712000)

机构地区：[1]陕西工业职业技术学院,咸阳712000

出　　处：《计算机与数字工程》2017年第9期1870-1873,共4页Computer & Digital Engineering

基　　金：国家自然科学基金项目"基于空间打压矢量的异步电动机软启动控制理论与方法研究"(编号:51577110)资助

摘　　要：系统采用陀螺仪MPU6050构成小车姿态检测装置,使用卡尔曼滤波完成陀螺仪数据与加速度计数据的融合,选用STM32F103单片机为控制核心,完成了传感器信号的处理,实现了车身的控制。整个系统的各个模块能够正常、协调工作,小车可以在无人干预条件下实现自主平衡。同时在引入适量干扰情况下小车能够自主调整并迅速恢复稳定状态。The system uses gyroscope MPU6050 car attitude detection device, uses the kalman filter to complete the data fu- sion of gyroscope and accelerometer data, uses STM32F103 microcontroller as control core, completes the processing of the sensor signal, realizes the control of the body. Each module of the whole system can work normally and coordinate, and the car can realize independent balance under the condition of no intervention. At the same time, in the case of the introduction of appropriate interfer- ence, the car can be adjusted independently and quickly restored to a stable state.

关 键 词：两轮自平衡 陀螺仪 姿态检测 卡尔曼滤波 数据融合 

分 类 号：TP3-02[自动化与计算机技术—计算机科学与技术]