两轮自平衡小车的系统设计与实现

两轮自平衡小车是以倒立摆模型为基础的动态平衡系统,针对系统设计中的车身结构、姿态检测与动态平衡控制等关键问题进行研究.采用一体化轮毂电机作为自平衡小车的驱动单元,设计轻量化车身结构以降低车身重量和能量损耗.控制系统采用含有加速度计、陀螺仪、电子罗盘的9轴姿态检测传感器检测车身姿态角度,利用卡尔曼滤波算法进行数据融合,获得姿态角度的最优估计,借助PID运动控制算法驱动轮毂电机运动,实现自平衡小车车身的动态平衡.通过参数优化,提升了系统的响应速度,将姿态角度估计的误差降低到0.5°以内,实现了两轮小车自主动态平衡功能,为两轮自平衡小车的设计提供了一种简单、可行、低成本的设计方案.

Design and Implementation of Two-Wheel Self-Balancing Vehicle System

The two-wheel self-balancing vehicle is a dynamic balance system based on the inverted pendulum model.The key points of the vehicle body structure,posture detection and dynamic balance control in system design were sutdied.A lightweight body structure was designed by using integrated hub motor as the driving system,which could reduce the mass and energy loss of the vehicle.A 9-axis attitude sensor with gyroscope,accelerometer and compass was used to detect the body posture angle information in the control system.Kalman filtering was used in the data fusion to find optimal estimation of attitude angle.The PID motion control algorithm was used to drive the hub motor to relize the dynamic balance of the body.Through the optimization of the parameters,the response speed of system is improved,and the error of attitude angle estimation is reduced to less than 0.5°,and the autonomous dynamic balance function is realized,which provides a simple,feasible and low-cost design solution for the design of two-wheel self-balancing vehicle.