| 基于陀螺仪与加速度计的二轮自平衡控制系统设计 |
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| 引用本文： | 孟腾,章政.基于陀螺仪与加速度计的二轮自平衡控制系统设计[J].传感器与微系统,2014,33(10):61-64. |
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| 作者姓名： | 孟腾 章政 |
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| 作者单位： | 武汉科技大学信息科学与工程学院,湖北武汉,430081 |
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| 基金项目： | 冶金装备及其控制教育部重点实验室开放基金资助项目，湖北省自然科学基金资助项目 |
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| 摘 要： | 为了实现二轮自平衡系统的稳定控制,提高系统姿态倾角的可靠性,提出了基于陀螺仪与加速度计的二轮自平衡系统控制方法.建立二轮自平衡系统的简易动力学模型,以Lyapunov方法对稳定性进行分析,得到系统稳定控制的条件,采用陀螺仪和加速度计采集姿态倾角数据,经融合滤波后得出高精度姿态倾角,最后控制二轮自平衡系统电机实现稳定运行.通过二轮自平衡控制系统的硬软件设计,成功验证了该方法的可行性.
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| 关 键 词： | 二轮自平衡 陀螺仪 加速度计 融合滤波 |
Design of two-wheeled self-balancing control system based on gyroscope and accelerometer |
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| MENG Teng,ZHANG Zheng.Design of two-wheeled self-balancing control system based on gyroscope and accelerometer[J].Transducer and Microsystem Technology,2014,33(10):61-64. |
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| Authors: | MENG Teng ZHANG Zheng |
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| Affiliation: | ( School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China) |
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| Abstract: | In order to realize stable control of two-wheeled self-balancing system and improve reliability of system attitude inclination angle, a method of two-wheeled self-balancing system control based on gyroscope and accelerometer is presented. Establish brief dynamics model for two-wheeled self-balancing control system, Lyiapunov method is used to analyze stability in order to get stability control condition of system, datas of attitude inclination angle with high preeision is aequired by gyroscope and accelerometer after fusion filtering, at last, control motor of two-wheeled self-balancing system to achieve stable operation. Through hardware and software design, it verifies the feasibility of this method successfully. |
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| Keywords: | two-wheeled self-balancing gyroscope accelerometer fusion filtering |
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