两轮自平衡机器人设计研究生论文.docx

研究生课程论文
课程名称两轮自平衡机器人设计
学院电子工程学院
专业电子与通信工程

摘要
本课题旨在设计一种两轮自平衡机器人。该系统的基本模型是一种两轮左右平行布置的双电机驱动小车,像传统的倒立摆一样,本身是一个自然不稳定体,必须施加强有力的控制手段才能使之稳定。由于它的行为具有独特性,具有巨大的潜在应用性,因而对其进行研究具有重要的理论和实践意义。
两轮自平衡机器人由基本框架(车体)、两个平行的轮子、控制驱动电路、电源和左、右电机组成。两轮平行的安装于框架的最低端,两电机分别位于两轮两侧,电源安装于仅次于电机之上,控制驱动电路固定于中上部位。系统以姿态传感器(陀螺仪、加速度计)来监测车身所处的俯仰状态和状态变化率,通过高速中央处理器(STM32)计算出适当数据和指令后,驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。两轮自平衡机器人转弯通过两电机不同的速度差。原则上,只要打开电源且能保持足够运作的电力,两轮自平衡机器人就能自动的保持平衡运动或者静止状态。该系统灵活性强且结构简单、体积较小,适用于一些特殊的场合。
对于姿态检测系统而言,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。本文采用一种简易互补方法来融合陀螺仪和加速度计的输出信号,补偿陀螺仪的漂移误差和加速度计的动态误差,得到一个更优的倾角近似值。
控制算法是运动控制的核心,本设计以STM32作为核心处理器对信号进行计算和输出控制。按照偏差的比例和积分进行控制的调节。本文对系统用到的算法控制技术做了相应的研究,从理论上分析了积分控制技术,并用于系统的实际测试。
Abstract
The purpose of this study is to design a bi-wheeled self-balancing robot. The basic model of the system is a parallel bi-wheeled double motor drive car, like a traditional inverted pendulum, itself be a natural unstable, the stability strong control to make it to be balancing. Because of its behavior is unique, has the potential application of huge, so it has important theoretical and practical significance to study.
Two wheeled self-balancing robot posed of basic frame (vehicle), two parallel wheels, control drive circuit, power supply and the left, the right motor. The bottom two parallel mounted on the frame, the two motors are respectively located in the two sides, the power installed on near to motor, control circuit is fixed in the upper part. System attitude sensors (gyroscopes, accelerometers) pitch state and state to monitor the change of body position, through high-speed central processing unit (STM32) to calculate the appropriate data and instructions, the motor produces forward or backward acceleration to achieve the effect of the balance body. Two wheeled self-balancing robot turn through two different speed motor. In principle, as long as the power to open and to maintain sufficient operating power, two wheeled self-balancing robot can automatically balan