摘要
两轮自平衡小车运动控制的关键是小车平衡的控制。本文设计并制作了一台以MMA7260加速度传感器为姿态敏感元件,采用STC12C5A60S2单片机作为主控制器,通过L298电机驱动模块驱动双向直流电机实现两轮自平衡小车的姿态控制。将涉及到具体硬件的控制程序进行了分离和封装,因此小车可以作为验证各种控制算法性能的理想物理平台,并采用PID算法对小车姿态控制进行了试验,验证了自平衡小车物理系统方案的可行性。
Balance control is the key to the two wheel self-balancing car movement control.This article was designed and made a gesture to MMA7260 accelerometer which sensing element is used STC12C5A60S2 SCM as a main controller driven through the L298 motor driver module to achieve two-way DC motor car from the balance of the attitude control.Specific hardware control procedures were isolated and packaged,so the car can be used to be an ideal physical platform testing the performance of various control algorithms.The PID algorithm was used to control the attitude of the car.Results verify the feasibility of the method.
出处
《机电产品开发与创新》
2011年第3期144-145,140,共3页
Development & Innovation of Machinery & Electrical Products
