| 基于MMA7260两轮自平衡小车控制系统设计 |
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| 引用本文： | 杨继志,郭敬. 基于MMA7260两轮自平衡小车控制系统设计[J]. 机电产品开发与创新, 2011, 24(3): 144-145,140. DOI: 10.3969/j.issn.1002-6673.2011.03.058 |
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| 作者姓名： | 杨继志 郭敬 |
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| 作者单位： | 北京航天试验技术研究所,机电技术事业部,北京,100074 |
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| 摘 要： | 两轮自平衡小车运动控制的关键是小车平衡的控制.本文设计并制作了一台以MMA7260加速度传感器为姿态敏感元件,采用STC12C5A60S2单片机作为主控制器,通过L298电机驱动模块驱动双向直流电机实现两轮自平衡小车的姿态控制.将涉及到具体硬件的控制程序进行了分离和封装,因此小车可以作为验证各种控制算法性能的理想物理平...
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| 关 键 词： | MMA7260 两轮自平衡小车 STC12C5A60S2 控制算法 |
Two Wheel Self-balancing Car Control System Design Based on MMA7260 |
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| YANG Ji-Zhi,GUO Jing. Two Wheel Self-balancing Car Control System Design Based on MMA7260[J]. Development & Innovation of Machinery & Electrical Products, 2011, 24(3): 144-145,140. DOI: 10.3969/j.issn.1002-6673.2011.03.058 |
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| Authors: | YANG Ji-Zhi GUO Jing |
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| Affiliation: | (Beijing Institute of Aerospace Testing Technology,Beijing 100074,China) |
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| Abstract: | Balance control is the key to the two wheel self-balancing car movement control.This article was designed and made a gesture to MMA7260 accelerometer which sensing element is used STC12C5A60S2 SCM as a main controller driven through the L298 motor driver module to achieve two-way DC motor car from the balance of the attitude control.Specific hardware control procedures were isolated and packaged,so the car can be used to be an ideal physical platform testing the performance of various control algorithms.The PID algorithm was used to control the attitude of the car.Results verify the feasibility of the method. |
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| Keywords: | MMA7260 two wheel self-balance car STC12C5A60S2 control algorithm |
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