基于PID控制的自平衡小车设计  

Design of Self Balancing Trolley Based on PID Control

作　　者：张慧敏 张亚峰 ZHANG Huimin;ZHANG Yafeng

机构地区：[1]平顶山学院信息工程学院

出　　处：《计量与测试技术》2022年第12期50-52,共3页Metrology & Measurement Technique

摘　　要：平衡车具有体积小、轻便等优点,在许多领域得到了广泛应用。本文分析了平衡小车的平衡原理,提出总体设计方案,在硬件设计的基础上,利用传感器采集的加速度与角速度数据,对小车保持运行时的姿态进行检测与分析,并用互补滤波进行数据处理,优化电机的控制输出,增强了小车的平衡能力。实验证明,小车具有较强的平衡保持能力。The balancing vehicle has the advantages of small size, lightness and so on, and has been widely used in many fields.In this paper, the balance principle of the balance car is analyzed and the overall design scheme is proposed.On the basis of the hardware design, the acceleration and angular velocity data collected by the sensor are used to detect and analyze the posture of the car when it is running, and the data is processed by complementary filtering to optimize the control output of the motor and enhance the balance ability of the car.Experiments show that the trolley has a strong ability to maintain balance.

关 键 词：自平衡小车 STM32 互补滤波 PID算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]