基于Arduino单片机的平衡车设计  

Design of Balance Car Based on Arduino Single Chip Microcomputer

作　　者：徐弘铭 陈斌 曹钧铭 XU Hongming;CHEN Bin;CAO Junming(Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142

出　　处：《沈阳化工大学学报》2023年第6期554-561,共8页Journal of Shenyang University of Chemical Technology

摘　　要：设计了一种采用双闭环PID控制的双轮自平衡车,系统以Arduino Mega2560单片机作为主控芯片,采用MPU-6050陀螺仪加速度计传感器实时采集车体角度和角速度数据,通过互补滤波算法对干扰进行抑制.车体的直立运行控制采用负反馈PD控制,车身速度控制采用正反馈PI控制.平衡车主控芯片通过控制电机驱动模块L298N调节PWM输出的占空比来改变电机的转速.按照Ziegler-Nichols经验整定公式求出PID初始参数,使用Simulink构建该PID算法模型并进行仿真,仿真结果表明所使用的双闭环PID控制算法的动态性能良好,具有较好的抗干扰能力.平衡车的实物调试结果实现了平衡车直立平衡运行的目标.A two-wheeled self-balancing vehicle with dual closed-loop PID control was designed.The system uses Arduino Mega2560 single-chip microcomputer as the main control chip and MPU-6050 gyroscope accelerometer sensor to collect vehicle body angle and angular velocity data in real time.The interference is suppressed through complementary filtering algorithm.The upright running control of the car body adopts negative feedback PD control,and the body speed control adopts positive feedback PI control.The main control chip of the balance car changes the motor speed by controlling the motor drive module L298N to adjust the duty cycle of the PWM output.According to the Ziegler-Nichols tuning formula,the initial parameters of PID are obtained,and the PID algorithm model is constructed using simulink and simulated.The simulation results show that the dual closed-loop PID control algorithm used in this paper has good dynamic performance and good anti-interference ability.The results of the physical debugging of the balance car have achieved the goal of the balance car′s upright and balanced operation.

关 键 词：双闭环PID控制 ARDUINO 互补滤波 Ziegler-Nichols经验整定公式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]