摘要
当今人们对行车安全日益重视,因此需要一种能够实时监测小车重心的系统使小车的姿态处于安全的范围内。笔者设计的小车重心控制系统采用MPU6050采集车身姿态数据,将控制力矩陀螺(Control Moment Gyro,CMG)作为控制核心,采用卡尔曼滤波技术实现过滤干扰信号、修正姿态角、处理传感器收集的姿态数据、建立测量数据的线性方程的功能,最后采用模糊比例、积分和微分(Proportion Integral Differential,PID)算法调整CMG的转子速度与旋转轴输出力矩用。该系统具有结构稳定、应用灵活、精度高、可靠性强、成本低、框架小型化和安全系数高等优点。
Nowadays,people pay more and more attention to driving safety,so a system that can monitor the center of gravity of the car in real time is needed to make the attitude of the car in a safe range.The car center of gravity control system designed by the author uses MPU6050 to collect the body attitude data,takes the CMG as the control core,and uses Kalman filter technology to filter the interference signal,correct the attitude angle,process the attitude data collected by the sensor and establish the linear equation of the measurement data.Finally,fuzzy PID algorithm is used to adjust the rotor speed and rotating shaft output torque of CMG.The system has the advantages of stable structure,flexible application,high precision,strong reliability,low cost,miniaturized frame and high safety factor.
作者
王廷轩
苏康友
潘光焕
林文健
陈毅宝
WANG Tingxuan;SU Kangyou;PAN Guanghuan;LIN Wenjian;CHEN Yibao(School of Electrical and Information Engineering,Guangdong Baiyun University,Guangzhou Guangdong 510450,China)
出处
《信息与电脑》
2021年第20期98-102,112,共6页
Information & Computer
基金
2021年广东大学生科技创新培育专项资金项目(项目编号:pdjh2021b0563)。
