摘要
以陀螺仪作为敏感传感器测量自行车的倾斜角度,初步实现了无人驾驶自行车机器人的小范围稳定控制。基于以AT89C51单片机为核心的电路,用汇编语言编程实现对陀螺仪的输出速度信号进行积分处理,从而根据处理的结果实现对步进电机的位置随动控制—根据车体的倾斜角度转动车把,从而使自行车机器人保持平衡。
Using gyroscope as the yare sensor to scale the slope angle of the bicycle respect to the vertical direction, the goal of balancing a bicycle robot is achieved. The way of compositing the control circuit by using the AT89C51 single chip computer as the core part is presented. And the program written with assembly language to sample and process the output PWM signal of the gyroscope is designed. The program controls the executive step motor to rotate the handlebar to balance the bicycle based on the computation result of the program.
出处
《机电产品开发与创新》
2005年第2期1-3,共3页
Development & Innovation of Machinery & Electrical Products
基金
国家自然科学基金(50475161)
国家973计划资助项目(2004CB318000)
教育部科学技术研究重点项目(104043)
