两轮智能平衡车控制系统的设计与实现

发布时间：2018-04-22 18:41

本文选题：两轮智能平衡车 + 控制系统　；参考：《长安大学》2017年硕士论文

【摘要】：随着科学技术的飞速发展,我国在智能机器人领域获得了骄人的成绩,为人们的生产、生活带来了便捷。本文所研究的两轮智能平衡车属于一种典型的智能机器人,其动力学系统具有多变量、强耦合、非线性以及参数不确定等特点。可以在很小的空间内实现转弯,绿色环保,是一种理想的代步工具。对该系统的研究具有很高的理论价值和实用价值。本文将对两轮智能平衡车的软硬件系统进行设计,使系统最终能够实现静态平衡和动态平衡。主要研究工作如下:(1)分析两轮智能平衡车的平衡原理和转向原理,建立了车轮、车体、和电机三者动能模型,进而利用拉格朗日方法建立了两轮智能平衡车数学模型。(2)以STM32为主控芯片,设计了两轮智能平衡车控制系统的主控板和驱动板电路,主控板电路包括电源转换电路、STM32最小系统以及平衡车姿态、速度及转向信息采集电路,驱动板包括以IR2130为驱动芯片的门极驱动电路以及三相桥式逆变电路。(3)分析六轴运动处理组件MPU6050中加速度计与陀螺仪测量平衡车车体倾斜角度的原理,设计了一种卡尔曼滤波融合算法,对两者信息进行处理,得到更为准确的倾角信息,最后应用MATLAB仿真对设计的滤波融合算法进行了有效性验证。(4)在硬件平台建立的基础之上,对两轮智能平衡车数据采集、PID控制以及WIFI通信系统程序进行设计,以此为基础,搭建了平衡车测试平台,对电机驱动系统、平衡车直立、加速和转弯性能进行测试,验证了软硬件系统的可行性。
[Abstract]:With the rapid development of science and technology, our country has obtained remarkable achievements in the field of intelligent robot, which brings convenience to people's production and life. The two-wheel intelligent balancing vehicle studied in this paper is a kind of typical intelligent robot. Its dynamic system has the characteristics of multi-variable, strong coupling, nonlinear and uncertain parameters. Can achieve in very small space turn, green, is an ideal walking tool. The research on this system has high theoretical and practical value. In this paper, the hardware and software system of two-wheel intelligent balancing vehicle is designed, so that the system can realize static balance and dynamic balance finally. The main research work is as follows: (1) analyzing the balance principle and steering principle of the two-wheel intelligent balancing vehicle, and establishing the kinetic energy model of the wheel, the car body, and the motor. Then the mathematical model of two-wheel intelligent balancing vehicle is established by using Lagrange method. The main control board and drive board circuit of the two-wheel intelligent balancing vehicle control system are designed with STM32 as the main control chip. The main control board circuit includes the power conversion circuit STM32 minimum system and the balancing vehicle attitude, speed and steering information acquisition circuit. The driving board consists of a gate drive circuit with IR2130 as the driving chip and a three-phase bridge inverter circuit. The principle of measuring the tilt angle of the balanced car body by accelerometer and gyroscope in the six-axis motion processing module MPU6050 is analyzed. A Kalman filter fusion algorithm is designed to process the two information and obtain more accurate obliquity information. Finally, the MATLAB simulation is used to verify the validity of the designed filtering fusion algorithm on the basis of the establishment of the hardware platform. The data acquisition pid control and WIFI communication system program of two-wheel intelligent balancing vehicle are designed. Based on this, a test platform for balancing vehicle is built to test the performance of motor drive system, balancing vehicle vertical, acceleration and turning. The feasibility of the hardware and software system is verified.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】