| 基于MPU6050的双轮平衡车控制系统设计 |
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| 引用本文： | 赖义汉,王凯.基于MPU6050的双轮平衡车控制系统设计[J].河南纺织高等专科学校学报,2014(1):53-57. |
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| 作者姓名： | 赖义汉 王凯 |
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| 作者单位： | 龙岩学院物理与机电工程学院; |
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| 摘 要： | 双轮平衡车是一个高度不稳定两轮机器人,单独使用陀螺仪或者加速度计都不能提供有效而可靠的信息来保证车体的平衡.介绍了以STC12C5A60S2单片机作为核心控制器的双轮平衡车控制系统设计方案,采用MPU6050六轴传感器采集角度和角速度信号,应用卡尔曼融合滤波方式和PID控制算法,以实现双轮平衡车的平衡和简单的直立行走.
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| 关 键 词： | 双轮平衡车 MPU6050 控制系统 |
The design of the two-wheeled balancing vehicle control system based on MPU6050 |
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| LAI Yi-han,WANG kai.The design of the two-wheeled balancing vehicle control system based on MPU6050[J].Journal of Henan Textile College,2014(1):53-57. |
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| Authors: | LAI Yi-han WANG kai |
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| Affiliation: | (Physics and Mechanics College, Longyan University, Longyan 364012, China) |
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| Abstract: | Two-wheeled balancing car is a highly unstable two-wheeled robot, the information depending on the gyroscope or the accelerometer eouldnt make sure the balance of the vehicle. The paper mainly introduced the design of the two-wheel balancing car con- trol system, as the core controller of the STC12C5A60S2 microcontroller. System collects angle and angular velocity base on MPU6050 six axis sensors. Using Kalman filtering fusion method and PID control algorithm, the balance and walking upright of two-wheeled balancing is realized. |
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| Keywords: | two-wheeled balancing vehicle MPU605 control system |
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