基于互补滤波的两轮机器人运动控制系统设计  

Design of two-wheeled Robot Motion Control System Based on the Complementary Filter

作　　者：夏国清[1] 陈华珍[1] 甄文劲 XIA Guo-qing;CHEN Hua-zhen;ZHEN Wen-jin(South China Institute of Software Engineering Guangzhou University,Guangzhou 510990 China)

机构地区：[1]广州大学华软软件学院电子系,广东广州510990

出　　处：《自动化技术与应用》2018年第10期72-78,共7页Techniques of Automation and Applications

基　　金：2015年广东省教育厅重点平台及科研项目(青年创新人才类项目(自然科学))(编号2015KQNCX240)

摘　　要：针对目前两轮自巡航机器人在运动控制问题上,设计了一种基于微控制器MK60FX512VLQ15实现的单轨行走两轮机器人运动控制系统。该系统首先采用MPU6050传感器检测机器人的姿态角来实现平衡控制,同时通过增量式编码器获取机器人的速度实现速度控制,其次,通过摄像头采集轨道图像实现方向控制。实现了利用一阶互补滤波算法对陀螺仪与加速度计的数据进行融合,并通过平衡、速度和方向三者的PID闭环控制实现对电机的控制,从而实现系统的运动与静止平衡。实验结果证明:该方案的系统在复杂巡航路径下,能够稳定的行走。Aiming at the motion control problem of two-wheeled self-cruise robot,a two-wheeled robot motion control system based on the micro-controller MK60FX512VLQ15 is proposed.The system firstly uses the MPU6050 sensor to detect the attitude Angle of the robot to realize the balance control,while the speed of the robot is controlled by the incremental encoder.Secondly,direction control is achieved by camera acquisition orbital images.Implements the use of the first-order complementary filter algorithm of gyroscope and accelerometer data fusion,and the control of the motor is realized by the PID closed-loop control of the balance,velocity and direction,so as to realize the system movement and static balance.The experimental results show that the system can walk steadily under the complex cruise path.

关 键 词：两轮机器人 运动控制 一阶互补滤波 PID控制 平衡控制 MPU6050 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]