摘要
针对两轮自平衡车姿态检测手段单一,存在控制不稳定可能造成损失的问题,提出了一种基于数据融合的控制方法。建立了自平衡车数学模型和平衡运动方程,将卡尔曼和互补两种滤波算法融合陀螺仪和加速度计获取的位姿数据求解出最优位姿参数,搭建了由NI myRIO为主控的两轮自平衡车进行实验,在这种控制策略下自平衡车姿态更稳定、转向更灵活。
Aiming at the single attitude detection method of two-wheeled self-balancing vehicle and the problem that control instability may cause loss,a control method based on data fusion is proposed.The self balance vehicle mathematical model and the balance motion equation are established.The two kinds of filtering algorithms are combined with the position and orientation data acquired by the gyroscope and accelerometer to solve the optimal pose parameters.A two wheeled self balancing vehicle controlled by NI myRIO is built to carry out the experiment.Under this control strategy,the self balancing vehicle has more stable posture and more flexible steering.
作者
王文
邓三鹏
张香玲
祁宇明
WANG Wen;DENG San-peng;ZHANG Xiang-ling;QI Yu-ming(Institute of Robotics and Intelligent Equipment,Tianjin University of Technology and Education,Tianjin 300222,China;Tianjin Bonus Intelligent Creative Robotics Co.,Ltd.,Tianjin 300353,China)
出处
《装备制造技术》
2019年第10期18-22,共5页
Equipment Manufacturing Technology
基金
天津市科技军民融合重大专项：轻型高机动救援机器人平台关键技术研发(18ZXJMTG00160)
天津市科学技术普及研发项目：“与智能机器人的零距离接触”系列科普宣传活动(19KPHDRC00140)
关键词
姿态检测
自平衡控制
数据融合
attitude detection
self-balancing control
data fusion
