智能车两轮自平衡小车系统毕业论文.doc

1 摘要近年来,两轮自平衡机器人的研究取得了快速的发展, 两轮自平衡小车的动力学系统是一种多变量、非线性、强耦合的系统,是检验各种控制方法的典型装置。同时由于它具有体积小、运动灵活、零转弯半径等特点,必将会在军用和民用领域有着广泛的应用前景。本文主要介绍了基于 Freescale MC9S12XS128 单片机为控制核心的两轮自平衡小车系统,以验证经典的 PID 控制在动态平衡系统上的控制效果。在该系统上,姿态传感器采用 MPU6050 ,单片机在采集到姿态数据后,采用 Kalman 滤波器对得到的数据进行融合,并在此基础上分析不同滤波方法的效果。借助增量式 PID 控制 PWM 的输出和利用 TB6612FNG 控制电机的转向以及转速,从而实现了小车的自平衡控制。关键词:两轮自平衡系统; Kalman 滤波; 数据融合; HCS12 ;MPU6050 . 2 Design and implementation of two-wheeled self-balancing vehicle Abstract In recently years, the research of two-wheeled self- balancing robot has made a rapid development , the dynamics system of two-wheeled self -balancing vehicle isa multivariable , nonlinear, strong coupling system , and also , it’sa typical devices to test a variety of control methods. B ecause of it has a small , flexible movement and zero turning radius . It will have a wide range of applications in military and civilian fields. In the article , it describes the Freescale MC9S12XS128 microcontroller -based control of two-wheeled self-balancing vehicle system to verify the classic PID control system in the dynamic balance . On this system , It used MPU6050 as the car state sensing system , and it used the Kalman filter to fuse the obtained angle data , and analyzed the effect of different filtering methods based on this . With incremental PID control PWM output and use TB6612FNG steering and speed control motors , enabling the car 's self- balance control finally . Keywords: two-wheeled self-balancing system; the Kalman filter;HCS12;MPU6050 3 目录摘要............................................................................................................................. 2 第 1章绪论............................................................................................................... 6 两轮自平衡机器人概述...................................................................................................... 6 两轮自平衡机器人的发展................................................................................................