基于STM32的自平衡载人智能车的研究

发布时间：2018-10-31 15:06

【摘要】：随着中国现在城镇化发展越来越快,城市生活环境狭窄了许多,并且伴随着生活节奏地加快,人们对适合地交通工具的需求日益增长。尽管汽车仍旧是人类最普遍的短途交通工具,但是它所带来的能源紧缺、环境污染、交通拥堵、泊车等问题,给大家正常生活带来了困扰。在这种前提下,提出的二轮载人自平衡车是一种由电力驱动的具有自动平衡能力的新型绿色个人交通工具,以其自动平衡的特性、优良的代步效果以及轻便易带有望成为下一代全新的个人短途交通代步工具。载人自平衡车,实际上完全突破了传统车的概念,由之前的静态稳定的车体改成现在静态非平衡性地车体,同时还有诸多优点,如节能减排、体积小、可实现零半径回转等。另外载人平衡车技术研究的过程中,该系统作为能够感知环境因素变化,能够进行分析判断然后做出行为控制的这些特殊属性,也为多功能移动机器人研究领域提供了很多便利,移动机器人研究成为了当前科学研究的一大热点。本论文主要是利用自动控制理论与技术、动力学理论、力学、电子技术、软件技术等专业知识,对两轮载人自平衡车系统进行研究分析和设计制作。本人主要做了如下研究：1、设计了一款合理的自平衡车研究的平台,根据控制思路的需要寻找并搭建了机械框架以及硬件控制方案,包括机械框架、微处理器、电源选取与供电思路、姿态传感器模块以及电机驱动模块等；2、在已有的平台及控制电路的情况下,设计一套软件控制方案,并完成软件的相应设计；3、研究并实验对比算法,在软件设计过程中,采用适宜的优化算法处理数据；4、完成实际载人跑动测试、智能车车体自平衡测试、以及转弯测试等相关实验；5、最后,本文提出了一套切实可行的自平衡车研究方案,完成了两轮载人智能车的制作。目前市面上有形形色色的智能车产品,在稳定性和耐用性上比本人的设计的作品要好一些,但是从经济的角度来,都比较昂贵。另外,市面上产品针对设计性更强,拓展性研究开发的可能性小,本文设计的作品在后续的科研可拓展性相对更好些。
[Abstract]:With the rapid development of urbanization in China, the urban living environment is much narrower, and with the rapid pace of life, people's demand for suitable means of transportation is increasing day by day. Although the automobile is still the most common short-haul vehicle for human beings, it brings problems such as energy shortage, environmental pollution, traffic jam, parking and so on. Under this premise, the two-wheel manned self-balancing vehicle is a new type of green personal vehicle with automatic balance capability driven by electric power. Excellent mobility and easy-to-wear are expected to be the next generation of personal short-distance transportation tools. In fact, the concept of manned self-balancing vehicle has completely broken through the concept of traditional vehicle. It has changed from static and stable car body to static unbalanced ground car body. At the same time, there are many advantages, such as energy saving and emission reduction, small volume, zero radius gyration and so on. In addition, in the course of the research on the technology of manned balancing vehicles, the system, as a special attribute that can perceive the changes of environmental factors, can analyze and judge, and then make behavior control, It also provides a lot of convenience for the research field of multifunctional mobile robot. The research of mobile robot has become a hot spot in current scientific research. In this paper, the automatic control theory and technology, dynamics theory, mechanics, electronic technology, software technology and other professional knowledge are used to study, analyze and design the two-wheel manned self-balancing vehicle system. I mainly do the following research: 1, designed a reasonable self-balancing vehicle research platform, according to the need of control ideas to find and build the mechanical framework and hardware control scheme, including mechanical framework, microprocessor, Power source selection and power supply train of thought, attitude sensor module and motor driving module; 2. Under the condition of the existing platform and control circuit, a set of software control scheme is designed, and the corresponding design of the software is completed. 3, the algorithms are studied and compared, and the appropriate optimization algorithm is used to process the data in the process of software design. 4, complete the actual manned running test, intelligent vehicle body self-balance test, and turn test and other related experiments. 5, finally, this paper put forward a set of feasible self-balancing vehicle research project, completed the production of two-wheel manned intelligent vehicle. At present there are a variety of smart car products in the market, in terms of stability and durability better than my design works, but from an economic point of view, are more expensive. In addition, the products in the market are more design, and the possibility of extensive research and development is small. The works designed in this paper are relatively better in the subsequent scientific research expansibility.
【学位授予单位】：广西师范大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U48

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