载人自平衡两轮车控制系统的设计
发布时间：2019-06-21 20:05
【摘要】：本文设计并制作了一个载人两轮平衡车，从理论和实践中论述了两轮自平衡车的工作原理。它与传统的倒立摆原理基本相似，属于一个不稳定的体系，要想使其稳定的工作，需要用强有力的外部力量加到系统上进行控制。本文采用Protel软件完成硬件系统的原理图和PCB的设计，从器件的选取到电路板的印刷，完成了硬件平台的搭建，后续程序的调试和最终实物的制作，从而完成建立了整套系统。平衡车的软件采用标准C语言编写，开发环境采用MPLAB IDE。它集成的开发环境是综合编辑器，项目管理器的设计平台，适合于使用Microchip的PICmicro系列的单片机进行设计和应用开发，，同时也是基于Windows操作系统的开发环境，其中集成编译器连接器等。辅助软件包括串口调试猎人，最后论述了平衡车的调试过程中所注意的问题和调试方法，比如互补卡尔曼滤波器的参数选定，PID参数整定等。 本文设计的自平衡两轮车的主控芯片采用Microchip公司生产的基于PICmicro核的PIC18F4331。在分析了单独使用陀螺仪和加速度计所存在的问题后，本设计的姿态数据获取应用了MPU6050的加速度计和陀螺仪互相校准的方案。电机驱动采用了先进的H桥驱动Mosfet的方案，选用IR公司的IR2184S专用型汽车电机驱动芯片。软件算法采用卡尔曼数据融合配合PID控制。算法效率更高且控制效果更加平滑。整合以上硬件电路和软件算法最终实现了载人自平衡两轮车控制系统的设计。
[Abstract]:In this paper, a manned two-wheeled balancing vehicle is designed and manufactured, and the working principle of the two-wheeled self-balancing vehicle is discussed in theory and practice. It is basically similar to the traditional inverted pendulum principle and belongs to an unstable system. In order to make its stable work, it needs to be controlled by strong external forces. In this paper, Protel software is used to complete the schematic diagram of the hardware system and the design of PCB. From the selection of the device to the printing of the circuit board, the hardware platform is built, the subsequent program is debugged and the final physical object is made, thus the whole system is established. The software of balance vehicle is written in standard C language, and the development environment is MPLAB IDE.. Its integrated development environment is the design platform of integrated editor and project manager, which is suitable for the design and application development of PICmicro series single chip microcomputer of Microchip, and it is also the development environment based on Windows operating system, in which the integrated compiler connector and so on. The auxiliary software includes serial port debugging hunter. Finally, the problems and debugging methods in the debugging process of balancing vehicle are discussed, such as parameter selection of complementary Kalman filter, PID parameter tuning and so on. The main control chip of self-balancing two-wheeled vehicle designed in this paper is PIC18F4331. based on PICmicro core produced by Microchip Company. After analyzing the problems existing in the use of gyroscope and accelerometer alone, the attitude data of this design is obtained by using MPU6050 accelerometer and gyroscope to calibrate each other. The advanced H-bridge drive Mosfet scheme is used to drive the motor, and the IR2184S special motor drive chip of IR company is selected. The software algorithm adopts Kalman data fusion and PID control. The algorithm is more efficient and the control effect is smoother. Finally, the control system of manned self-balancing two-wheeled vehicle is designed by integrating the above hardware circuits and software algorithms.
【学位授予单位】：辽宁工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;TP242
[Abstract]:In this paper, a manned two-wheeled balancing vehicle is designed and manufactured, and the working principle of the two-wheeled self-balancing vehicle is discussed in theory and practice. It is basically similar to the traditional inverted pendulum principle and belongs to an unstable system. In order to make its stable work, it needs to be controlled by strong external forces. In this paper, Protel software is used to complete the schematic diagram of the hardware system and the design of PCB. From the selection of the device to the printing of the circuit board, the hardware platform is built, the subsequent program is debugged and the final physical object is made, thus the whole system is established. The software of balance vehicle is written in standard C language, and the development environment is MPLAB IDE.. Its integrated development environment is the design platform of integrated editor and project manager, which is suitable for the design and application development of PICmicro series single chip microcomputer of Microchip, and it is also the development environment based on Windows operating system, in which the integrated compiler connector and so on. The auxiliary software includes serial port debugging hunter. Finally, the problems and debugging methods in the debugging process of balancing vehicle are discussed, such as parameter selection of complementary Kalman filter, PID parameter tuning and so on. The main control chip of self-balancing two-wheeled vehicle designed in this paper is PIC18F4331. based on PICmicro core produced by Microchip Company. After analyzing the problems existing in the use of gyroscope and accelerometer alone, the attitude data of this design is obtained by using MPU6050 accelerometer and gyroscope to calibrate each other. The advanced H-bridge drive Mosfet scheme is used to drive the motor, and the IR2184S special motor drive chip of IR company is selected. The software algorithm adopts Kalman data fusion and PID control. The algorithm is more efficient and the control effect is smoother. Finally, the control system of manned self-balancing two-wheeled vehicle is designed by integrating the above hardware circuits and software algorithms.
【学位授予单位】：辽宁工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;TP242
【参考文献】
相关期刊论文 前10条
1 李航,孙厚芳,韩建海,李济顺,赵书尚,林青松;两轮机器人行走机构的建模与实验[J];北京理工大学学报;2004年12期
2 王晓宇;闫继宏;臧希U
本文编号：2504313
本文链接：https://www.wllwen.com/guanlilunwen/xiangmuguanli/2504313.html
