农用独轮自平衡车的设计与实验  

Design and Experiment of Single-wheel Self-balancing Vehicle for Agriculture

作　　者：王震 杨帅 徐青正 时慧杰 李天华[2,3] 侯加林 周凯[2,3] 金天国 WANG Zhen;YANG Shuai;XU Qingzheng;SHI Huijie;LI Tianhua;HOU Jialin;ZHOU Kai;JIN Tianguo(Logistics Management Office,Shandong Agricultural University,Taian,271018,China;College of Mechanical and Electrical Engineering,Shandong Agricultural University,Taian,271018,China;Shandong Provincial Key Laboratory of Horticultural Machineries and Equipments,Taian,271018,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]山东农业大学后勤管理处,山东泰安271018 [2]山东农业大学机械与电子工程学院,山东泰安271018 [3]山东省园艺机械与装备重点实验室,山东泰安271018 [4]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《农机使用与维修》2022年第4期1-8,12,共9页Agricultural Machinery Using & Maintenance

基　　金：国家重点研发计划项目(2018YFB1308700);中国博士后科学基金(2019M662410);山东省现代农业产业技术体系蔬菜产业创新团队项目(SDAIT-05-11);国家特色蔬菜产业技术体系(CARS-24-D-01)。

摘　　要：针对国内外农业机器人在应用过程中面临的环境复杂、自动化程度不足、成本高、适用范围小等问题,以ESP32单片机为主控单元,基于倒立摆模型和PID控制模型,设计了一款适用性强且经济实用的农用独轮自平衡车。独轮自平衡车采用MPU6050传感器,通过其内部集成的数字运动处理器(DMP)进行数据融合滤波处理,将陀螺仪传感器测量的角度、加速度等信息输送至单片机,并通过多次实验选择确定一组最优的PID参数,以提高自平衡车的稳定性和抗干扰性。单片机通过PID算法得到的计算结果经电机驱动作用至自平衡车,并借助低功耗蓝牙(BLE)进行数据传输、运动控制及机械重心计算,使用直流电机及直流减速电机驱动为其提供动力,从而使独轮自平衡车保持平衡与稳定。通过实验验证,该独轮自平衡车操作简单,工作稳定可靠,满足运动可控和平衡稳定的要求。To solve the problems of complex environment,insufficient automation,high cost,and small application range faced by domestic and foreign agricultural robots in the application process.The ESP32 single-chip microcomputer is used as the main control unit,and based on inverted pendulum model and PID control model are used to design a highly applicable and economical and practical single-wheel self-balancing vehicle for agriculture.single-wheel self-balancing vehicle adopts the MPU6050 sensor,through its internal integration digital motion processor(DMP)for data fusion and filtering,and transmits the angle,acceleration and other information measured by the gyroscope sensor to the single-chip microcomputer.And through multiple experiments to determine a set of optimal PID parameters,to improve the stability and anti-interference of the self-balancing vehicle.The calculation results obtained by the single-chip microcomputer through the PID algorithm are driven by the motor to the self-balancing vehicle,and use Bluetooth low energy(BLE)for data transmission,motion control and mechanical center of gravity calculation.It uses a DC motor and a DC geared motor to drive it to provide power,so that the single-wheel self-balancing vehicle maintains balance and stability.The experimental verification shows that the single-wheel self-balancing vehicle is simple to operate,stable and reliable in work,and meets the requirements of controllable motion and stable balance.

关 键 词：ESP32单片机 MPU6050传感器 PID控制 平衡车 倒立摆模型 

分 类 号：S49[农业科学—植物保护]