| 两轮自平衡车运动姿态的测量和控制 |
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| 引用本文： | 马思远,鲁庭勇,张丽君.两轮自平衡车运动姿态的测量和控制[J].测控技术,2015,34(4):71-73. |
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| 作者姓名： | 马思远 鲁庭勇 张丽君 |
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| 作者单位： | 1. 西安交通大学电气工程学院,陕西西安,710049;2. 长安大学电子与控制工程学院,陕西西安,710064 |
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| 基金项目： | 陕西省重点科技攻关项目(2001K10 G1) |
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| 摘 要： | 两轮自平衡车姿态测量与控制是两轮自平衡车设计的关键环节.针对两轮自平衡车倾角的测量问题,采用了卡尔曼多传感融合算法.该算法融合了加速度传感器和陀螺仪传感器数据,实现了两轮自平衡车倾角实时在线估算.根据测量得到的倾角和角速度,采用了比例微分(PD)控制算法,实现了两轮自平衡车姿态的稳定控制.
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| 关 键 词： | 陀螺仪 加速度传感器 数据融合 动态测量 卡尔曼滤波 |
Attitude Measurement and Control of Two-Wheel Self-Balancing Car |
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| MA Si-yuan
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LU Ting-yong
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ZHANG Li-jun.Attitude Measurement and Control of Two-Wheel Self-Balancing Car[J].Measurement & Control Technology,2015,34(4):71-73. |
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| Authors: | MA Si-yuan LU Ting-yong ZHANG Li-jun |
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| Abstract: | Attitude measurement and control are the critical steps in the design of two-wheel self-balancing car.Kalman multi-sensor fusion algorithm is proposed for the angle measurement of the two-wheel self-balancing car.Real time online estimation of the angle is realized with the fusion of the data from accelerometer and gyroscope.Proportional differential(PD) control algorithm is proposed according to the measured angle and angular velocity,and the stable control of the attitude for the two-wheel self-balancing car is realized. |
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| Keywords: | gyroscope accelerometer data fusion dynamic measurement Kalman filter |
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