基于单片机的球型机器人控制系统设计
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摘要
针对球型机器人运动过程中自平衡差的问题,设计了一种基于单片机的球型机器人控制系统。系统以单片机STM32F103为核心;使用MPU-6050六轴传感器进行姿态检测,采用卡尔曼滤波对加速度计和陀螺仪的数据进行融合;通过编写相应的控制算法程序,有效地改善球型机器人运动过程中的自平衡。最后对球型机器人控制系统进行了试验与调试,结果表明该控制系统的设计方案可行,达到了控制要求。
Aiming at the self-balance difference of spherical robot during its movement,it designs a spherical robot control system based on single-chip microcomputer. The system takes SCM32 F103 as the micro controller core,uses MPU-6050 six-axis sensor for attitude detection,takes Kalman filter to deal with the data fusion of the accelerator and gyroscope,compiles corresponding control algorithm program to effectively improve the self-balance of spherical robot in the process of motion. It carries out experiments and debugging. The results show that the design scheme of the control system is feasible,and meets the control requirements.
Aiming at the self-balance difference of spherical robot during its movement,it designs a spherical robot control system based on single-chip microcomputer. The system takes SCM32 F103 as the micro controller core,uses MPU-6050 six-axis sensor for attitude detection,takes Kalman filter to deal with the data fusion of the accelerator and gyroscope,compiles corresponding control algorithm program to effectively improve the self-balance of spherical robot in the process of motion. It carries out experiments and debugging. The results show that the design scheme of the control system is feasible,and meets the control requirements.
引文
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[3]吴晗,薛磊,徐开芸,等.球形机器人双闭环PID控制设计与仿真[J].机电产品开发与创新,2018,7(4):82-84.
[4]刘宁,陈冬琼,杨克磊.基于STM32最小系统串口通信显示系统设计[J].工业控制计算机,2017,30(8):33-36.
[5]赖义汉,王凯.基于MPU6050的双轮平衡车控制系统设计[J].河南工程学院学报(自然科学版),2014,26(1):55-58.
[6] ZHENG Minghui,ZHAN Qiang,LIU Jinkun. Control of a spherical robot:path following based on nonholonomic kinematics and dynamics[J]. Chinese Journal of Aeronautics,2011,24(3):337-345.
[7] YE Changlong,MA Shugen,HUI Li. An omnidirectional mobile robot[J]. Science China Informational Sciences,2010,54(12):2632-2634.
[8]庹朝永.基于单片机的直流电机PWM调速系统设计与开发[J].煤炭技术,2011,30(6):62-68.
[2]孙汉旭,赵伟,张延恒.新型变结构球形机器人运动分析[J].机械工程学报,2013,49(19):41-42.
[3]吴晗,薛磊,徐开芸,等.球形机器人双闭环PID控制设计与仿真[J].机电产品开发与创新,2018,7(4):82-84.
[4]刘宁,陈冬琼,杨克磊.基于STM32最小系统串口通信显示系统设计[J].工业控制计算机,2017,30(8):33-36.
[5]赖义汉,王凯.基于MPU6050的双轮平衡车控制系统设计[J].河南工程学院学报(自然科学版),2014,26(1):55-58.
[6] ZHENG Minghui,ZHAN Qiang,LIU Jinkun. Control of a spherical robot:path following based on nonholonomic kinematics and dynamics[J]. Chinese Journal of Aeronautics,2011,24(3):337-345.
[7] YE Changlong,MA Shugen,HUI Li. An omnidirectional mobile robot[J]. Science China Informational Sciences,2010,54(12):2632-2634.
[8]庹朝永.基于单片机的直流电机PWM调速系统设计与开发[J].煤炭技术,2011,30(6):62-68.