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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TB66
2、12FNG 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 . Design and implementation of two-wheeled self-balancing vehicleAbstractIn recently years, the research of two-wheeled self-balancing robot has made a rapid development, the dynamics system of two-wheeled self-balancing ve
3、hicle is a multivariable, nonlinear, strong coupling system, and also ,its a typical devices to test a variety of control methods. Because 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 descri
4、bes 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, a
5、nd 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 cars self-balance control finally.Keywords: two-wheeled self-balancing system; the Kalman filter;HCS12;MPU6050目录目录摘要.2第 1 章 绪
6、论.61.1 两轮自平衡机器人概述.61.2 两轮自平衡机器人的发展.61.3 方案论证及选择.71.4 关键技术及目标.81.4.1 姿态数据处理.81.4.2 控制算法的实现.91.4.3 目标.9第 2 章 两轮自平衡小车的原理.102.1 小车的直立控制.102.2 倾角与角速度的测量.132.3 本章小结.14第 3 章 电路设计.153.1 整体电路框图.153.2 电源电路.163.3 单片机最小系统.173.3.1 S12 单片机简介.173.3.2 MC9S12XS128 最小系统电路.173.4 MPU6050.183.4.1 MPU6050 简介.183.4.2 I2C 通信.193.5 电机驱动电路.193.5.1 驱动芯片介绍.193.5.2 驱动电路设计.203.6 速度传感器电路.213.6.1 光电编码器介绍.213.7 无线遥控电路.213.7.1 Pt2262 简介.