基于K60的自平衡智能车设计研究  

Design of a Self-balancing Intelligent Vehicle Based on K60

作　　者：纪萍[1] 陈玲[1] 李飞红 类课文 牛梦雪 JI Ping;CHEN Ling;LI Feihong;LEI Kewen;LIU Mengxue(Wentian College of Hehai University,Ma'anshan,Anhui 243000,China)

机构地区：[1]河海大学文天学院

出　　处：《西昌学院学报（自然科学版）》2019年第3期49-52,共4页Journal of Xichang University(Natural Science Edition)

基　　金：国家级大学生创新创业项目(201714203005);校级创新创业团队建设项目(zl2018001)

摘　　要：两轮自平衡车结合了两轮同轴、独立驱动、悬架结构和倒立摆模型的自平衡原理,是一种在微处理器控制下始终保持平衡的新型代步工具。设计了一款基于MK60DN512ZVLQ10的智能小车系统,在无人控制的情况下,有效地控制两轮小车的运动速度,实现了两轮小车自平衡、自动变速、自动避障、自动停车、翻越坡道等功能,并沿着赛道实现自动循迹。A two-wheel self-balancing vehicle follows the self-balancing principle of a model with two-wheel coaxial,independent drive,suspension structure and inverted pendulum.It is a new type of transport tool that always keeps balance under the control of a microprocessor.In this paper,an intelligent vehicle system based on MK60DN512ZVLQ10 is designed,which can effectively control the motion speed of two-wheeled vehicle under the condition of unmanned control,and realize its functions of self-balancing,automatic gearshift,automatic obstacle avoidance,automatic parking and ramps climbing,as well as automatic tracking along the track.

关 键 词：PID控制 自平衡小车 自动循迹 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]