基于16位单片机MC9S12XS128的两轮自平衡智能车的系统研究与开发

发布时间：2018-03-01 15:02

本文关键词： 自平衡卡尔曼滤波 PID控制单片机　出处：《长安大学》2013年硕士论文　论文类型：学位论文

【摘要】：汽车的普及是大势所趋，汽车电控水平的高低及汽车电器智能化的程度被看作是衡量现代汽车水平的重要标志。随着汽车电子技术和机器人智能技术的快速发展，对智能车辆的研究已经成为自动控制领域内的一个研究热点。智能汽车是一种集环境感知，规划决策，自动行驶等功能于一体的综合高新科技系统，它的应用涉及到众多学科，诸如自动控制、模式识别、计算机视觉、传感器技术、车辆工程、电子与电气、单片机等众多学科。教育部举办的“飞思卡尔”智能汽车大赛，是一项综合性很强的赛事，能够充分调动大学生对智能汽车的兴趣，培养大学生进行科学研究的能力，提高大学生的动手能力和科技创新能力。本文以第七届“飞思卡尔”智能汽车大赛为研究背景，运用MC9S12XS128单片机，设计一种基于电磁导航的两轮自平衡车系统，并实现车模的直立行走，自主寻迹功能。系统采用飞思卡尔十六位微处理器MC9S12XS128作为核心控制单元，，通过运用各种传感器，设计稳压模块、最小系统模块、双轮测速模块、倾角测量模块、电机驱动模块和人机交互模块并编写相应程序以完成平衡控制，速度控制，转向控制三大任务。文中通过对倒立摆进行动力学建模，类比得到车模的平衡条件。首先利用陀螺仪和加速度计获得车模的倾角和角速度，并进行卡尔曼滤波，并对倾角进行PD控制(比例-微分控制)实现车模的直立。通过光电编码器分别测得车模的线速度和转向角速度，对速度进行PI控制(比例-积分控制)。将转速控制信号与平衡控制信号叠加加载到后轮两电机上，实现车模的静止和直立行走。通过道路电磁中心线偏差检测与电机差动控制，保证车模在赛道上行驶，并对方向控制量和车体转动角速度进行PD控制可实现车模的方向控制。最后对系统机械机构进行了安装调试，同时对三个控制模块的控制参数进行了静态及动态的调整，对整套系统进行实车赛道调试，实现智能车快捷、稳定、灵活的自主行驶。
[Abstract]:The popularity of automobile is the trend of the times. The level of automobile electronic control and the degree of intelligent automobile electrical appliance are regarded as the important symbol to measure the level of modern automobile. With the rapid development of automotive electronic technology and robot intelligent technology, The research of intelligent vehicle has become a research hotspot in the field of automatic control. Intelligent vehicle is a kind of integrated high-tech system with the functions of environment perception, planning and decision making, automatic driving and so on. Its application involves many disciplines. Such as automatic control, pattern recognition, computer vision, sensor technology, vehicle engineering, electronics and electricity, microcontroller and many other disciplines. The "Freescale" Intelligent car Competition, organized by the Ministry of Education, is a comprehensive competition that can fully mobilize the interest of college students in intelligent cars and foster their ability to conduct scientific research. Based on the research background of the 7th "Freescale" Intelligent Automobile Competition, a two-wheel self-balancing vehicle system based on electromagnetic navigation is designed by using MC9S12XS128 single chip microcomputer. The system adopts Freescale 16 bit microprocessor MC9S12XS128 as the core control unit, through the use of various sensors, design the steady voltage module, the minimum system module, the double wheel speed measurement module, the system adopts the Freescale 16 bit microprocessor MC9S12XS128 as the core control unit, and designs the steady voltage module, the minimum system module, the double wheel velocity measurement module, The measurement module of inclination angle, motor driving module and man-machine interaction module are programmed to accomplish three tasks: balance control, speed control and steering control. In this paper, the dynamic modeling of inverted pendulum is carried out. The equilibrium conditions of the model are obtained by analogy. Firstly, the inclination angle and angular velocity of the model are obtained by using gyroscopes and accelerometers, and the Kalman filter is carried out. PD control (proportional differential control) is used to control the inclination angle to achieve the vertical position of the vehicle model. The linear velocity and the steering angular velocity of the model are measured by photoelectric encoder respectively. The speed is controlled by Pi (proportional integral control). The speed control signal and the balance control signal are superimposed on the rear wheel two motors to realize the static and upright walking of the vehicle model. The electromagnetic centerline deviation detection of the road and the differential control of the motor are carried out. The direction control of the vehicle model can be realized by ensuring that the vehicle model is running on the track, and the other side can control the vehicle model direction by PD control to the control quantity and the rotation angular velocity of the car body. Finally, the system mechanical mechanism is installed and debugged, and the control parameters of the three control modules are adjusted statically and dynamically, and the whole system is debugged to realize the intelligent vehicle driving quickly, stably and flexibly.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：U48;TP368.12

【参考文献】