摘要
传统的电动车是前后轮结构,本文探讨一种新的两轮电动交通工具是左右轮结构,且不需要人的骑行技术,能自动平衡。利用倒立摆控制思想,采用现代电子技术,微控制器、陀螺仪和加速度传感器、霍尔元件、无刷电机及机械结构等硬件构成,采用PID模糊控制算法、卡尔曼滤波、多传感器数据融合等软件算法,来实现该电动自行车前进后退,灵活拐弯,自动保持平衡。
The traditional electric vehicles possessed the structure with front & rear wheels,this paper discusses a new 2-wheeled electric transportation vehicles possessed the structure with right & left wheels,and needn’t the riding skill for the people,it can be balanced automatically.The control thought of inverted pendulum will be used and adopted the modern electronic technology,composed with the hardware of micro controller,gyroscope and accelerometer,Hall element,brushless motor and mechanical structure etc.introduced PID fuzzy control algorithm,Kalman filter,multi-sensor data convergence etc.software algorithms to implement the forward & backward of the electric bike,flexible turning around as well as auto-balancing.
出处
《办公自动化》
2013年第6期63-65,共3页
Office Informatization
关键词
陀螺仪
加速度
无刷电机
自平衡
Gyroscope Acceleration Brushless motor Auto-balancing
