摘要
分析了两轮自平衡车的总体原理及数学模型,针对单个传感器在两轮平衡车姿态检测中存在的干扰和漂移误差问题,采用互补滤波算法对加速度计和陀螺仪输出的数据进行融合演算,对噪声干扰进行了良好的抑制,提高了输出姿态角的准确性。针对两轮平衡车自平衡控制问题,采用比例、积分、微分控制器,使平衡车的平衡系统得到良好的直立平衡控制。仿真数据和实验结果表明,该方法解决了单个传感器对姿态角测量误差大的问题,达到要求的控制性能。
The general principle and mathematical model of the two-wheel self-balancing vehicle were analyzed.Aiming at the problem of interference and drift error of single sensors in the posture detection of two-wheel balanced vehicles,the complementary filter algorithm was used to carry out fusion calculation of the data output by the accelerometer and the gyroscope,and the noise interference was suppressed well and the accuracy of the output posture angle was improved.As to the self-balancing control of the two-wheel balancing vehicle,proportional,integral and differential controllers were adopted to achieve a good vertical balance control of the vehicle’s balancing system.Simulation data and experimental results show that this method solves the problem that single sensors have great errors in posture angle measurement,and achieves the required control performance.
作者
詹友基
应廉泽
戴福全
ZHAN Youji;YING Lianze;DAI Fuquan(Manufacturing Technology Sub-center of Advanced Manufacturing Productivity Promotion Center of Fujian Province,Fuzhou 350118,China;School of Mechanical and Automotive Engineering,Fujian University of Technology,Fuzhou 350118,China)
出处
《福建工程学院学报》
CAS
2018年第6期511-515,共5页
Journal of Fujian University of Technology
基金
国家自然科学基金项目(51775113)
福建省自然科学基金项目(2016J01723)
石材产业加工技术与装备福建省2011协同创新中心合作项目(2017XT002)
关键词
两轮平衡车
互补滤波
PID
数学建模
MATLAB
two-wheel self-balancing vehicle
complementary filter
PID
mathematical modeling
MATLAB
