基于光传感器的自平衡车实验.doc

------------------------------------------------------------------------------------------------ ——————————————————————————————————————基于光传感器的自平衡车实验学术论坛 DOI : - 谢丰泽(成都树德中学四川成都 610000 ) 摘要: 电动自平衡车大大地简化了车体结构, 能够实现原地旋转和任意半径转向, 移动轨迹更为灵活易变, 减少占地面积, 因此成为现代人们喜爱的代步和应用工具之一。由于具有结构简单、运行稳定、能量利用率高、环境适应性强等优点, 无论是在军事领域还是在民用领域都具有非常广阔的应用前景。该文结 以及 LEGO979 7 等软硬件资源, 组装了平衡小车, 并且对自行设计的 PID 算法进行了实验和验证,取得了满意的结果。有助于中学生理解智能小车原理, 学会 NXT 语言, 掌握和准确运用 PID 算法; 设计性和综合性强, 包括硬件组装, 算法设计和程序编写, 物理知识的应用; 有助于激发中学生对机器人、以及科学实验的兴趣, 提高动手能力, 创新能力, 培养创新意识。关键词:平衡车算法实验中图分类号: TP24 文献标识码: A 文章编号: 1674-098X(2015)10(a)-0251-04 Experiment of Self-Balancing Little Car Based ona Light Sensor Xie Fengze (Chengdu shuter middle school,Chengdu Sichuan,610000,China) Abstract:Electric self-balancing vehicle car body structure is ------------------------------------------------------------------------------------------------ —————————————————————————————————————— simplified greatly,can realize to spin around and arbitrary radius, mobile trajectory is more flexible and variable,reduce cover an area of an area,thus became one of the modern people love walking and application of its simple structure, stable running, high energy utilization and environment adaptable advantage, whether in the military field and civilian field has very broad application and hardware resources,this paper and LEGO9797 assemble the balance of the car, and designed the PID algorithm for the experiments and verification,and satisfactory results were students understand the principle of intelligent car,learn the NXT languages,grasp and accurate use of PID algorithm;Design prehensive strength, including the hardware Words:Balanced;Algoritm;Experiment 电动自平衡车大大地简化了车体结构, 能够实现原地旋转和任意半径转向, 移动轨迹更为灵活易变, 减少占地面积, 因此成为现代人们喜爱的代步和应用工具之一。由于具有结构简单、运行稳定、能量利用率高、环境适应性强等优点,无论是在军事领域还是在民用领域都具有非常广阔的应用前景。两轮自平衡车是一个多变量、非线性、高阶次、强耦合、本质不稳定的运动控制系统,是检验各种控制理论和控制方法的典型装置,因而, 对其研究有很大的理论