基于DSP的两轮自平衡小车的设计与研究

发布时间：2018-03-22 20:58

本文选题：两轮自平衡小车　切入点：极点配置　出处：《太原理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：两轮自平衡小车是一种源于经典控制理论中倒立摆模型的新型智能机器人,在资源勘探、军事侦察、交通运输等诸多领域中都有着广泛的应用前景。该机器人系统具有非线性、强耦合、多变量、自然不稳定等多种特点,是控制理论、运动学、电子学、自动化等多种学科综合运用的科技成果,已成为各国科学家的重点研究对象。本文首先建立了两轮自平衡小车的数学模型,在这一过程中通过对一阶倒立摆数学模型的深入研究,逐步将理论模型扩展为小车实际系统模型,并对系统模型经行了线性化处理,能控性以及可观性分析。在已建立的模型基础之上,小车系统控制方法的选择就成为关键。本文分别对状态反馈极点配置法和线性二次型最优控制法进行了深入的分析,并利用Matlab软件分别对两种控制方法下的控制效果进行了对比分析,根据实际效果最终确定采用了状态反馈极点配置法。其次,在系统硬件方面,本文选取了TI公司的TMS320VC5509A数字信号处理器作为主控芯片,以便利用其强大的数据处理功能。传感器方面采用了陀螺仪和加速度传感器的配置,以综合确定小车的实际运动状态。软件方面利用了TI公司开发的CCS3.3平台,实现软件编程,并重点研究了数字滤波器的设计。最后,对组建完成的两轮自平衡小车进行了各种实测及调试,同时利用Matlab软件进行了小车系统的模型辨识,对系统模型作出了一定程度的改进,并反复调试直至达到预期的控制效果。
[Abstract]:Two-wheeled self-balancing vehicle is a new type of intelligent robot derived from the inverted pendulum model in classical control theory. It has a wide application prospect in many fields such as resource exploration, military reconnaissance, transportation and so on. Strong coupling, multi-variable, natural instability and other characteristics, are the control theory, kinematics, electronics, automation and other disciplines of science and technology, has become the focus of scientists in the world. In this paper, the mathematical model of the two-wheel self-balancing vehicle is established. In this process, the theoretical model is extended to the practical system model of the vehicle through the in-depth study of the mathematical model of the first-order inverted pendulum. The linearization, controllability and observability of the system model are analyzed. The selection of control method for small car system becomes the key. In this paper, the state feedback pole collocation method and the linear quadratic optimal control method are analyzed respectively. The control effects of the two control methods are compared and analyzed by using Matlab software. According to the actual results, the state feedback pole collocation method is adopted. Secondly, in the hardware aspect of the system, this paper selects TI's TMS320VC5509A digital signal processor as the main control chip, in order to make use of its powerful data processing function, the sensor adopts the configuration of gyroscope and acceleration sensor. In order to determine the actual motion state of the car synthetically, the software uses the CCS3.3 platform developed by TI company to realize the software programming, and the design of digital filter is studied emphatically. Finally, the self-balancing vehicle with two wheels was tested and debugged. At the same time, the model identification of the vehicle system was carried out by using Matlab software, and the system model was improved to a certain extent. And repeatedly debug until the desired control effect.
【学位授予单位】：太原理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH22

【相似文献】