摘要
为满足出行需求,提高平衡小车的智能化水平,采用D型车模平台,RT1021单片机为核心控制单元,MPU6050姿态传感器采集小车姿态信息,运用卡尔曼滤波算法对陀螺仪采集数据进行融合与分析得到系统当前状态的最优化输出,最后通过串级PID控制电机输出,设计一款基于单片机的自主直立、自动循迹、主动避障的智能平衡小车。系统设计主要包括人机交互模块、传感器模块、电机驱动模块、运算放大模块,由软硬件两部分内容共同构建具有信号输入和控制反馈的闭环系统。经过多次测试表明:在室内PVC赛道上,平衡小车能够在平均2.5 m/s的速度下,实现自主直立、寻迹、避障,且具有较强的抗干扰能力,符合设计要求。
In order tomeet the travel needs of people,and improve the intelligent level of balanced cars,this paper uses a D-type car model platform,and the RT1021 single-chip microcomputer as the core control unit,the MPU6050 attitude sensor to collects car posture information,and the Kalman filtering algorithm is used to fuse and analyze the gyroscope data to get the optimal output of the current state of the system.Finally,the motor output is controlled by the cascade PID,and the intelligent balance car based on the single-chip is designed,which can stand upright,track automatically and avoid obstacles actively.The system design mainly includes human-computer interactive modules,sensor modules,motor drive modules and operational amplification modules;a closed-loop system with signal input and control feedback is constructed by two parts of hardware software and hardware.Many tests show that on the indoor PVC track,the balance car can achieve autonomous upright,tracing,obstacle avoidance at the average 2.5 m/s speed,and has strong anti-interference ability,which meets the design requirements.
作者
张灵玉
邓博
袁林
贺壮
杨波
ZHANG Lingyu;DENG Bo;YUAN Lin;HE Zhuang;YANG Bo(College of Electronic Engineering,Chengdu University of Information Technology,Chengdu 610225,China)
出处
《成都信息工程大学学报》
2022年第2期138-143,共6页
Journal of Chengdu University of Information Technology
基金
四川省科技厅重点研发资助项目(2020YFG0052)。
