摘要
设计了以陀螺仪ENC-03以及MEMS加速度计MMA7260为传感器的姿态感知系统,选用16位单片机MC9S12XS128为控制核心处理器,完成对传感器信号的采集处理、车身控制以及人机交互的设计,实现小车自主控制平衡状态、运行速度以及转向角度大小等功能.实验结果表明该系统的性能满足设计要求.
A two-wheel self-balancing electric vehicle is an important branch of moving robots, because of its dynamic system with multi,variables, nonlinear, strong coupling, time-varying, with parametric uncertainties, and other characteristics, and the complex research can make the experiment device of a control theory become an ideal platform. This paper summarizes the current situation of research on a two-wheel self-balancing robot. And gyroscope ENC-03, MMA7260 for attitude sensing sensors and MEMS accelerometer system are designed in the paper. By means of Freescale 16-bit single-chip Microcomputer Mcgs12xs128 for the control of core pro- cessor, the paper completes the acquisition of sensor signal processing, body control, as well as features such as human-computer interaction. Besides, the paper realizes the independent control balance of the car features such as size, speed and steering angle. Experimental results show that performance meets the design require- ments of the system.
出处
《常熟理工学院学报》
2012年第10期70-75,共6页
Journal of Changshu Institute of Technology
基金
江苏省大学生实践创新训练计划项目"两轮自平衡机器小车的设计"(jx110152011)
