基于互补滤波的两轮自平衡小车的实现  

Implement of Two-wheeled Self-balanced Vehicle Based on Complementary Filtering

作　　者：黄义豪 符长友 江宇波 蓝集明 HUANG Yi-hao;FU Chang-you;JIANG Yu-bo;LAN Ji-ming(School of Computer Science,Sichuan University of Science and Engineering,Yibin 644000,China;Key Laboratory of Higher Education of Sichuan Province for Enterprise Informationalization and Internet of Things,Zigong 643000,China)

机构地区：[1]四川轻化工大学计算机学院,宜宾644000 [2]企业信息化与物联网测控技术四川省高校重点实验室,自贡643000

出　　处：《自动化与仪表》2023年第4期48-53,共6页Automation & Instrumentation

基　　金：企业信息化与物联网测控技术四川省高校重点实验室基金项目(2016WZY201,2021WZY02);四川省教育厅重点科研项目(16ZA0258)。

摘　　要：要使两轮自平衡小车协同运动、平衡稳定、有效控制,最为关键的首要因素是准确、快速地解算出其运动姿态信息。该文针对姿态信息解算的卡尔曼滤波解算复杂、运算量大等缺点,采用互补滤波将倾角、加速度传感器信息进行数据融合、优化,得到与实际姿态信息相一致的最优估计值。再综合视觉传感器,两轮自平衡小车自动调整运动姿态、及时修正并回归至平衡位置,实现平稳控制。提出利用传感器—倾角、加速度、磁力计、视觉,互补滤波,ARM微控制器,4G通信等多种技术,设计出基于互补滤波的两轮自平衡小车。详细阐述了工作原理、系统架构、硬件设计及姿态信息检测、互补滤波、方向检测等算法。实践表明,基于互补滤波的两轮竞速自平衡小车姿态解算准确快速、运动控制精准、转弯快速。In order to make it move cooperatively,balance stably and control effectively,the most important factor is to accurately and quickly calculate the attitude information of the two-wheeled self-balanced vehicle(TWSBV).For complex calculation and the large amount of computing of Kalman filter,information fusion and optimization were finished by complementary filter(CF).And then the optimal estimation value that consistent with the actual attitude data was obtained.Not only automatically adjusted the motion attitude,corrected in time and returned to the balance position,but also realized stable control for the TWSBV after integrated with the visual sensor.The TWSBV based on CF was designed by adopting some technologies,such as sensors—inclinometer,accelerometer,magnetometer&vision,and CF,ARM microcontroller,4G,etc.Working principle,system architecture,hardware design and the algorithm of attitude information monitoring,CF and track detection were elaborated in detail.Practice shows that the TWSBV based on CF has accurate and fast attitude calculation,precise motion control and quick turn.

关 键 词：两轮自平衡 互补滤波 传感器 ARM 4G 姿态信息 方向检测 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]