| 基于互补滤波的两轮自平衡车姿态控制 |
| |
| 引用本文： | 梁光胜,杜梦楠,周子豪,刘春旭,文月.基于互补滤波的两轮自平衡车姿态控制[J].测控技术,2015,34(5):72-74. |
| |
| 作者姓名： | 梁光胜 杜梦楠 周子豪 刘春旭 文月 |
| |
| 作者单位： | 华北电力大学电气与电子工程学院,北京,102206 |
| |
| 摘 要： | 利用飞思卡尔XS128控制器、MMA7260三轴加速度计、ENC-03系列陀螺仪设计制作了两轮自平衡车.通过软件编程对两种传感器的检测值进行互补滤波融合,得到了可稳定、准确地反映自平衡车真实情况的角度值.并结合增量式PID算法,很好地实现了两轮自平衡车的动态平衡,验证了互补滤波算法应用于两轮自平衡车姿态控制的有效性.
|
| 关 键 词： | 互补滤波 自平衡车 姿态控制 |
Attitude Control Based on Complementary Filter for Two-Wheel Self-Balance Car |
| |
| LIANG Guang-sheng
,
DU Meng-nan
,
ZHOU Zi-hao
,
LIU Chun-xu
,
WEN Yue.Attitude Control Based on Complementary Filter for Two-Wheel Self-Balance Car[J].Measurement & Control Technology,2015,34(5):72-74. |
| |
| Authors: | LIANG Guang-sheng DU Meng-nan ZHOU Zi-hao LIU Chun-xu WEN Yue |
| |
| Abstract: | Two-wheel self-balance car is designed and constructed by using XS128 microcontroller of Freescale,MMA7260 three-axis accelerometer and ENC-03 series three-axis gyroscope.Through software programming of two kinds of sensor data complementary filtering fusion,stable and accurate angle value which reflects the real situation of two-wheel self-balance car is obtained.Combined with incremental PID algorithm,dynamic equilibrium of two-wheel self-balance car is achieved.The effectiveness of the application of complementary filter algorithm in two-wheel self-balance car attitude control is verified. |
| |
| Keywords: | complementary filter self-balance car attitude control |
| 本文献已被 万方数据 等数据库收录！ |
| 点击此处可从《测控技术》浏览原始摘要信息 |
|
点击此处可从《测控技术》下载全文 |
|
