基于K60摄像头导航平衡车的设计

本论文主要介绍了一款以Kinetis系列的32位单片机MK60Z256VLL4为中心微控制单元智能平衡车的设计。本平衡车使用到GPIO、ADC模数转换、PIT定时器、外部中断、PWM、I2C和UART串口等外设。主要完成三个闭环控制的设计和调试:直立环以加速度计MMA8451Q和陀螺仪ENC-03作为姿态检测传感器,使用卡尔曼滤波姿态解算和PD控制器;速度环以增量式编码器作为测速传感器,使用阶梯滤波速度解算和纯P控制器;方向环以10mH的线圈作为摄像头传感器检测赛道下方的交变电流,使用线圈电压的差和比位置解算和分段PD控制器。同时也要设计必不可少的人机交互功能,如OLED显示配合红外遥控调试。最终设计出稳定行驶并能适应各种类型赛道的直立平衡小车。

Design of Balance Car based on K60 Camera Navigation

This paper mainly introduces the design of an intelligent balance vehicle with 32-bit MCU MK60Z256VLL4 of Kinetis series as the center of MCU.The balance vehicle uses GPIO,ADC analogto-digital conversion,PIT timer,external interrupt,PWM,I2C and UART serial port and other peripherals.It mainly completes the design and debugging of three closed-loop control systems.The vertical loop uses accelerometer MMA8451Q and gyroscope ENC-03 as attitude detection sensors,Kalman filter attitude calculation and PD controller.The speed loop uses incremental encoder as the speed sensor,step filter speed calculation and pure P controller.The direction loop uses 10 mH coil as camera sensor to detect alternating current below the track.The direction loop also uses solution of difference and specific position of coil voltage and piecewise PD controller.At the same time,it is necessary to design human-computer interaction functions,such as OLED display and infrared remote control debugging.Finally,a vertical balanced vehicle with stable driving and adaptability to various types of track is designed.