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在两轮自平衡车设计的过程中,车身姿态检测是关键的设计环节,关系到自平衡车能否有效进行车身的自动控制。但是,使用单一传感器容易导致姿态检测过程中出现测量误差和噪声干扰,所以还需要对测量信号进行滤波处理。因此,基于这种情况,本文设计了一个基于卡尔曼滤波的两轮自平衡车姿态检测系统,从而更好的解决自平衡车的姿态控制问题。 相似文献
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针对于现在流行的两轮自平衡车,设计了一个与其原理相似的研究型平衡小车系统。该系统以STM32为主控芯片,采MPU6050采集小车的姿态。然后通过卡尔曼滤波融对数据进行融合处理,最后利用PID控制算法计算电机的PWM值以控制电机的合理转动'使小车保持平衡。系统利用自制的无线遥控模块中的NRF24L01模块传输控制信号模拟人体姿态调制,控制小车的行走。 相似文献
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研究了一种控制两轮同轴机器人平衡的新方法。通过改良两轮机器人的总体机械结构,将整个机器人的重心降到轮轴高度下方或者维持在通过轮轴的垂直平面内,在轮轴下方外加平衡摆杆以调节机器人重心,使之平衡,解决两轮自平衡机器人非线性、强耦合和绝对不稳定的特点。利用ARMStm32系列单片机实现控制,陀螺仪EWTS86和双轴加速度传感器ADXL330相结合提供一个惯性基准,感知两轮同轴机器人位姿和倾角,进行平衡协调;通过PID调节和卡尔曼滤波,实现机器人轮子转速控制和平衡杆的平衡控制的有机统一。 相似文献
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《电子技术与软件工程》2019,(17)
本文对两轮自平衡机器人控制系统的相关问题进行了简要论述,简单介绍了自平衡机器人的平衡控制机理,对控制系统中主要的硬件设计问题进行一定阐述,在结合工作实践的基础上,提出了几点控制系统实现的注意事项,为以提升两轮自平衡机器人的控制系统的控制有效性,保证控制系统功能的实现提供参考。 相似文献
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基于ADIS16355 MEMS的惯性测量组件系统设计 总被引:1,自引:0,他引:1
首先简介ADIS16355AMLZ型MEMS的原理、构成及应用.在此基础上,搭建一个硬件平台,采用内置USB控制器的AT89C5131A型单片机作为主控制器,控制ADIS16355AMLZ并采集、存储数据.并对惯性测量组件系统进行数据采集设计.经测试,该系统达到了预期设计要求. 相似文献
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为了提高(Micro-electro-mechanical Systems,MEMS)微机电系统电容式传感器测量低电容的灵敏度,提出了一种MEMS电容式传感器调理电路,并采用绝缘硅片(SOI)MEMS电容式加速度传感器组成了完整的电容测量系统。该信号调理电路采用了一组片上电容阵列用以抵消电容结构的失配。并且采用可调的方形波发生器来调谐系统的灵敏性,以此弥补电子装置制成后产生的变化。电路采是0.18-μm CMOS 技术设计并制成,测量结果显示,提出的测量系统能够准确测量到MEMS传感器的电容变化以及加速度,证明了信号调理电路的正确性和精确性。 相似文献
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A novel MEMS inertial sensor with enhanced sensing capacitors is developed. The designed fabricated process of the sensor is a deep RIE process, which can increase the mass of the seismic to reduce the mechanical noise, and the designed capacitance sensing method is changing the capacitance area, which can reduce the air damping between the sensing capacitor plates and reduce the requirement for the DRIE process precision, and reduce the electronic noise by increasing the sensing voltage to improve the resolution. The design and simulation are also verified by using the FEM tool ANSYS. The simulated results show that the transverse sensitivity of the sensor is approximately equal to zero. Finally, the fabricated process based on silicon-glass bonding and the preliminary test results of the device for testing grid capacitors and the novel inertial sensor are presented. The testing quality factor of the testing device based on the slide-film damping effect is 514, which shows that the enhanced capacitors can reduce mechanical noise. The preliminary testing result of the sensitivity is 0.492 pf/g. 相似文献
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A novel MEMS inertial sensor with enhanced sensing capacitors is developed. The designed fabricated process of the sensor is a deep RIE process, which can increase the mass of the seismic to reduce the mechanical noise, and the designed capacitance sensing method is changing the capacitance area, which can reduce the air damping between the sensing capacitor plates and reduce the requirement for the DRIE process precision, and reduce the electronic noise by increasing the sensing voltage to improve the resolution. The design and simulation are also verified by using the FEM tool ANSYS. The simulated results show that the transverse sensitivity of the sensor is approximately equal to zero. Finally, the fabricated process based on silicon-glass bonding and the preliminary test results of the device for testing grid capacitors and the novel inertial sensor are presented. The testing quality factor of the testing device based on the slide-film damping effect is 514, which shows that the enhanced capacitors can reduce mechanical noise. The preliminary testing result of the sensitivity is 0.492pf/g. 相似文献
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A kind of piezoresistive ultrasonic sensor based on MEMS is proposed,which is composed of a membrane and two side beams.A simplified mathematical model has been established to analyze the mechanical properties of the sensor.On the basis of the theoretical analysis,the structural size and layout location of the piezoresistors are determined by simulation analysis.The boron-implanted piezoresistors located on membrane and side beams form a Wheatstone bridge to detect acoustic signal.The membrane-beam microstructure is fabricated integrally by MEMS manufacturing technology.Finally,this paper presents the experimental characterization of the ultrasonic sensor,validating the theoretical model used and the simulated model.The sensitivity reaches -116.2 dB(0 dB reference = 1 V/μbar,31 kHz),resonant frequency is 39.6 kHz,direction angle is 55°. 相似文献
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提出了一种通过利用低成本的MEMS加速度传感器进行振动分析,实现检测电动机深沟球轴承多重故障的简易方法。首先分析了轴承多故障特征频率,然后通过快速傅里叶变换算法对轴承出现故障的电动机振动频率进行了分析,从振动频谱中提取故障频率来诊断轴承多重故障的存在。同时,基频分量周围的边带频率分量表明由于故障轴承存在空气间隙。在空载、单相以及失衡电压条件下通过实验对提出的方法进行了研究,结果显示提取出的故障频率与理论值两者十分接近,表明提出的方法能够有效检测并识别出感应电动机的多故障特征。 相似文献