摘要
研究了无动量轮双模式前后纵向两轮平衡车的关键技术。针对陀螺仪采集的数据进行滑动滤波与互补滤波,优化得到姿态信息;不采用动量轮,设计程序对舵机和电机进行精确控制,以实现平衡车的动态平衡。实验结果表明,该纵向两轮平衡车姿态解算信息准确,控制决策可行,降低了舵机和电机的耦合关系的影响,在多种路面环境下电磁自主循迹与蓝牙遥控两种模式均可满足自平衡的需求。
The key technologies of the front and rear longitudinal two-wheeled balance car of dual mode with no momentum wheel are studied.Sliding filtering and complementary filtering are performed based on the data collected by the gyroscope,and the attitude information is obtained by optimization;without using the momentum wheel,a program is designed to exert a precise control over the steering gear and the motor so as to strike a dynamic balance of the balance car.The experimental results show that the information obtained by attitude calculation is accurate and the control decision is feasible,and it reduces the coupling relationship between the steering gear and the motor.The two modes of electromagnetic autonomous tracking and bluetooth remote control can reach self-balance in the various road conditions.
作者
王倩颖
傅怀梁
杨永杰
WANG Qian-ying;FU Huai-liang;YANG Yong-jie(Zhangjian School,Nantong University,Nantong 226019,China)
出处
《南通职业大学学报》
2022年第2期76-81,共6页
Journal of Nantong Vocational University
基金
江苏省高等学校大学生创新创业训练计划2021年立项项目(202110304173H)。
关键词
公共自行车
智能化
两轮平衡车
动量轮
陀螺仪
滑动滤波
public bicycle
intelligent
two-wheeled balance car
momentum wheel
gyroscope
sliding filter
