基于TC264单片机的动量轮平衡单车控制系统  

The TC264-Based Control System for Self-Balancing Bicycles with Momentum Wheels

作　　者：杨帆[1] 张亚涛 曹友亮 YANG Fan;ZHANG Yatao;CAO Youliang(School of Automotive and Transportation Engineering,Nantong Vocational University,Nantong 226007,China)

机构地区：[1]南通职业大学汽车与交通工程学院,南通226007

出　　处：《江苏工程职业技术学院学报》2025年第1期1-6,共6页Journal of Jiangsu College of Engineering and Technology

基　　金：江苏省职业院校学生创新培育计划项目(编号:G-2023-1331)。

摘　　要：以TC264单片机为控制核心设计了能实现高速寻迹与动态稳定的动量轮平衡单车控制系统:运用陀螺仪作为姿态传感器测算车体位置信息并确定小车平衡的机械零点,通过卡尔曼滤波、一阶互补滤波等算法处理陀螺仪读取的车体姿态信息,将滤波后的信息分别输入串级PID(Proportional Integral Differential,比例、积分、微分)控制器的角速度内环与角度内环,使用编码器作为前进速度传感器构建前进速度环,使用摄像头作为循迹传感器构建转向环,通过控制动量轮实现车体控制。测试结果表明,该系统可以实现车体在静止状态及循迹状态下的直立平衡,由自平衡控制、前进速度控制、转向控制共同实现单车系统的循迹平衡控制,表现出较好的控制效果。该研究可为相似的控制工程提供参考。A momentum-wheel self-balancing bicycle control system with TC264 micro-controller as its core was designed to achieve high-speed tracking and dynamic stability.A gyroscope was used as the motion reference unit to measure the bicycle position and determine the mechanical zero point of balancing.Processed with the algorithms of Kalman filter and balance filter,the vehicle motion information sensed by the gyroscope was input into the angular velocity inner loop and the angular inner loop of the Cascade PID(Proportional Integral Differential)controller separately.The bicycle was regulated by controlling the momentum wheels,with an encoder serving as the forward speed sensor to construct the forward speed ring and a camera as the tracking sensor to construct the steering ring.The test results show that the bicycle is capable of keeping balance in both stationary and path-tracking states with the designed control system.The balance control in the path-tracking state,showing effective control,is achieved through the collaboration of self-balancing control,forward speed control,and steering control.This study can be used as a reference for similar control engineering projects.

关 键 词：动量轮 平衡单车 卡尔曼滤波 一阶互补滤波 串级PID 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]