摘要
针对现有双轮自平衡机器人系统稳定性差、行进过程中易出现碰撞等问题,提出了一种以STM32F103C8T6为控制核心的双轮自平衡机器人控制系统设计方案。MPU-6050传感器作为姿态检测模块获取机器人姿态数据并采用Kalman滤波算法对数据进行处理;运用PID控制算法控制电机,实现机器人系统自平衡控制。实验结果表明:手机APP遥控器能控制机器人完成前进、后退、左转、右转等动作;机器人主控系统能调节机器人姿态,达到良好自主平衡状态;系统还具有OLED屏幕显示和超声避障功能,增强人机交互性,也能够有效避免异常事件的发生。
In order to solve the problems such as poor stability,collision during the moving of the existing two-wheel self-balancing robot system,a design scheme of two-wheel self-balancing robot control system is proposed with STM32F103C8T6 processor being as the control core.The MPU-6050 sensor is used as the attitude detection module to obtain the attitude data of the robot,the Kalman filtering algorithm is used to fuse the data,and the PID control algorithm is used to control the motor to realize the self-balance control of the robot system.The experiment results show that the mobile phone APP remote controller can control the robot to complete forward,backward,left and right rotation.The robot master control system can adjust the robot attitude to achieve a good autonomous balance state.The system also has OLED screen display and ultrasonic obstacle avoidance function,which could enhance man-machine interaction,and effectively avoid abnormal events.
作者
聂茹
NIE Ru(School of Electronic Information Engineering,Guangzhou City University of Technology,Guangzhou 510800,China)
出处
《信息技术》
2023年第5期66-71,共6页
Information Technology
基金
广东省教育厅青年创新人才基金资助项目(2016KQNCX227)
广州城市理工学院优秀骨干教师项目(YG180021)。
