一种双车把两轮车机器人测控系统的设计与实现  

Design and Implementation of a Two-wheeled Two-wheeler Robot Measurement and Control System

作　　者：黄用华[1] 杨炼 何淑通[1] 庄未[1] HUANG Yong-hua;YANG Lian;HE Shu-tong;ZHUANG Wei(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院

出　　处：《装备制造技术》2019年第6期1-5,共5页Equipment Manufacturing Technology

基　　金：国家自然科学基金项目(51765011,51865005);桂林电子科技大学研究生创新项目(2018YJCX07,2017YJCX12)

摘　　要：双车把两轮车机器人同时具备自行车和Segway自平衡车的结构特点和运动特性,以该载体为基础,为实现自动控制,提出一种可实时闭环检测的测控系统。该系统的构架为分布式结构,工控机为主控单元,下层单元以4块DSP(TMS320F28335)芯片分别进行数据采集与处理,其处理的数据来源于各个传感器,包括采集系统姿态的陀螺仪、测速度和角度的编码器以及进行力矩转换的电流传感器。主控单元与PC端的通讯利用ZigBee无线模块来实现远程控制。基于以上的测控系统,结合PD控制算法实现了物理样机处于Segway态以及转把时的俯仰定车平衡控制运动,表明所设计的测控系统是有效可靠的。The two-wheeled two-wheeler robot has both the structural characteristics and the motion characteristics of the bicycle and the Segway self-balancing vehicle. Based on the carrier,a real-time closed-loop detection and control system is proposed for automatic control. The architecture of the system is a distributed structure,the industrial computer is the main control unit,and the lower unit performs data acquisition and processing with four DSPs(TMS320 F28335) chips. The processed data is derived from various sensors,including the gyroscope that collects the attitude of the system. An encoder for measuring speed and angle and a current sensor for torque conversion. The communication between the main control unit and the PC uses the ZigBee wireless module for remote control. Based on the above measurement and control system,combined with the PD control algorithm,the physical prototype is in the Segway state and the pitching and balancing control movement during the turning,which indicates that the designed measurement and control system is effective and reliable.

关 键 词：两轮车机器人 测控系统 俯仰平衡 传感器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]