基于μcos-Ⅲ操作系统的平衡智能车设计与实现  

Design and implementation of balanced intelligent vehicle based onμcos-Ⅲoperating system

作　　者：高娟 马鹏飞 马俊成[1] 王争 谢双 刘尚麟 王思齐 陆登明 GAO Juan;MA Pengfei;MA Juncheng;WANG Zheng;XIE Shuang;LIU Shanglin;WANG Siqi;LU Dengming(Chengdu College of University of Electronic Science and Technology of China,Chengdu 611731,China)

机构地区：[1]电子科技大学成都学院,四川成都611731

出　　处：《电子设计工程》2020年第24期142-146,共5页Electronic Design Engineering

摘　　要：针对市场上已有的平衡车功能单调,应用范围小,小车倒地后很难自动恢复直立,结构复杂,用户体验差等问题,文中设计了基于μcos-Ⅲ实时操作控制系统的两轮平衡智能车。为了改善这些问题,文中采用了一种μcos-Ⅲ实时操作系统作为底层控制的基础,此系统可以通过电脑上位机遥控控制,以嵌入式WiFi为通讯方式,观测陀螺仪数据、小车速度、调节PID参数。经过测试,基于μcos-Ⅲ实时操作控制系统的两轮平衡智能车,可以实现在通讯条件极差或不稳定的场所进行动态视频传输,保证了产品的安全性和稳定性,降低了平衡车产品的成本,简化了平衡车的系统结构,以便在一些拥挤和危险的空间内工作。This project designs a two-wheel balanced smart car based on the real-time operation control system ofμcos-III.To address variety of problems of the balanced smart car existing in the market such as functional monotonicity,small range of application,and the difficulty to automatically restore the upright after falling to the ground,as well as the complex structure and poor users’experience,this project adopts a method of real-time operating system as the underlying control that is remotely controlled by computer biting machine.And the embedded WiFi is used as the means of communication to observe the gyroscope data,trolley speed,and adjust the PID parameters.After testing,the two-wheel balanced smart car designed in this project can realize the dynamic video transmission in places with very poor communication conditions or unstable conditions through ensuring the safety and stability of the product,reducing the cost of the balanced car product,and simplifying the system structure of the balanced car.It can work well in some crowded and dangerous spaces.

关 键 词：μcos-Ⅲ 双轮平衡车 MPU6050陀螺仪 PID STM32处理器 嵌入式WiFi 

分 类 号：TN99[电子电信—信号与信息处理]