摘要
平衡车作为移动机器人的一个分支,是人工智能与自动控制理论相结合的典型应用。首先建立平衡车数学模型,采用STM32系列嵌入式主控芯片,选择MPU6050陀螺仪加速度计进行平衡车姿态解算系统的设计获得车体的倾角和加速度,通过串级控制系统实现平衡车的直立控制,车体的转向控制系统利用电机的差速控制实现。最后通过PID算法的参数整定实现了平衡车直立行走、速度、转向和平衡的稳定控制,并加入手机app蓝牙远程控制功能。经过实验验证,该系统在实现快速直立行走、转向并保持平衡功能的同时具有响应速度快、灵敏度高、抗干扰能力强的优点。
As a branch of mobile robot,balance vehicle is a typical application of artificial intelligence combined with automatic control theory. First,the mathematical model of the balance vehicle is built,and the balance vehicle uses STM32 series embeded master control chip,selects MPU6050 gyroscope and accelerometer to design the balance vehicle attitude algorithm system to get the dip and acceleration,the vertical control of balancing vehicle is realized through the cascade control system,the steering control system is realized by differential motor control. Finally,the stability control of upright walking,speed,steering and balance is achieved through parameter setting of PID algorithm,and bluetooth remote control function of mobile app is added. Experimental results show that the system has the advantages of fast response speed,high sensitivity and strong anti-interference ability while realizing the function of fast upright walking,turning and maintaining balance.
作者
王晶
WANG Jing(East China Electric Power Test&Research Institute,China Datang Corporation Science and Technology Research Institute Co.,Ltd.,Hefei 230022)
出处
《计算机与数字工程》
2020年第6期1334-1338,共5页
Computer & Digital Engineering
关键词
平衡车
蓝牙
PID
姿态解算
balance vehicle
bluetooth
PID
attitude algorithm
