载人自平衡电动独轮车的控制系统设计
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摘要
针对电动独轮车的载人自平衡功能,建立电动独轮车控制系统,设计控制系统的硬件和软件。硬件部分主要由以STM32单片机为核心的控制系统、MPU6050姿态感知系统、电机驱动系统和直流无刷电机等模块组成。软件部分是在KEIL软件平台下采用C语言编写程序,主要实现对采集到的姿态数据进行卡尔曼滤波处理、PID控制算法以及电机驱动等功能。研究结果表明,电动独轮车具有较好的载人自平衡效果。
Aiming at the riding and self-balancing function of electric unicycle,the electric unicycle control system is established,and the hardware and software of the control system are designed.The hardware parts include the control system using the STM32 MCU,the MPU6050 attitude perception system,the motor drive system and the brushless DC motor.The software is programed on the KEIL software platform,which using C language.The collected attitude data is applied with Kalman filter,the PID control algorithm and motor drive are achieved by the program.The research results show that the electric unicycle has better self-balancing effect.
Aiming at the riding and self-balancing function of electric unicycle,the electric unicycle control system is established,and the hardware and software of the control system are designed.The hardware parts include the control system using the STM32 MCU,the MPU6050 attitude perception system,the motor drive system and the brushless DC motor.The software is programed on the KEIL software platform,which using C language.The collected attitude data is applied with Kalman filter,the PID control algorithm and motor drive are achieved by the program.The research results show that the electric unicycle has better self-balancing effect.
引文
[1]Tsai C C,Shih S C,Lin S C.Adaptive Nonlinear Control U-sing RBFNN for an Electric Unicycle[C]//Proceedings of the 2008IEEE International conference on System,Man and Cybernetics,Singapore,2008:12-15.
[2]Lin S C,Tsai C C.Sliding-Mode Control of an Electric Unicycle Using Fuzzy Radial-Basis Function Neural Networks[C]//Proc.of 2009 National Symposium on System Science and Engineering,Tamsui,Taipei,2009:0316.
[3]李向东,刘伟.串联型稳压电路的设计[J].周口师范高等专科学校学报,2001,18(5):19-20.
[4]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,2014,26(1):53-57.
[5]张垒.无刷直流电机控制系统的设计与研究[D].衡阳:南华大学,2012.
[6]张团善,何颖.卡尔曼滤波在两轮自平衡代步车姿态检测中的应用[J].单片机与嵌入式系统应用,2014(5):33-35.
[7]赵磊.两轮平衡车建模与系统设计[D].成都:西南交通大学,2013.
[2]Lin S C,Tsai C C.Sliding-Mode Control of an Electric Unicycle Using Fuzzy Radial-Basis Function Neural Networks[C]//Proc.of 2009 National Symposium on System Science and Engineering,Tamsui,Taipei,2009:0316.
[3]李向东,刘伟.串联型稳压电路的设计[J].周口师范高等专科学校学报,2001,18(5):19-20.
[4]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,2014,26(1):53-57.
[5]张垒.无刷直流电机控制系统的设计与研究[D].衡阳:南华大学,2012.
[6]张团善,何颖.卡尔曼滤波在两轮自平衡代步车姿态检测中的应用[J].单片机与嵌入式系统应用,2014(5):33-35.
[7]赵磊.两轮平衡车建模与系统设计[D].成都:西南交通大学,2013.