双轮平衡车控制系统的设计

- I - 双轮平衡车控制系统的设计

摘要

随着时代的发展，人们生活质量的提高，双轮平衡车已经成为越来越流行

的交通工具，目前双轮平衡车的发展已经成为未来交通工具发展的重要方向。

在实际使用中，双轮平衡车的反应速度，稳定性已是制衡双轮平衡车使用体验

的最重要指标。为双轮平衡车提供一种高效准确的运动控制系统成为了拓展其

应用范围的前提。本文是在基于嵌入式微处理器平台上，选择姿态传感器，设

计了一种低成本、高性能、高准确性的双轮平衡车的控制系统。

本文首先从双轮平衡车的理论基础开始研究双轮平衡车的控制系统，依据

现代受力分析和动能理论对车体进行数学建模，在数学模型的基础上设计合理

的控制算法。之后设计双轮平衡车机械结构，主要分为车轮、车架、电机等机

械结构。在设计平衡车硬件电路时，主要使用ARM结构的微处理器处理算法并

且控制整体电路模块，使用高效的姿态传感器MPU6050采集车体的姿态信息，

采用电机驱动芯片驱动电机。最后编制双轮平衡车控制系统的程序，采用卡尔

曼滤波算法对采集到的姿态信息进行抗干扰处理。通过计算，主控制器输出

PWM波驱动电机维持系统整体稳定并保持姿态平衡。

本次设计实现了抗干扰能力强和高效稳定的平衡车控制系统，该平衡车系

统不仅平稳运行，并可以成功从不稳定状态恢复平衡，基本实现了基本功能。

本次设计可以使双轮平衡车这种交通工具更好的符合人们的日常需求。

关键词 双轮平衡车；数学模型；PID控制；卡尔曼滤波

- II - Design of the Control System of

DoubleWheel Balance Car

Abstract

With the development of the times,people's living standards gradually

improve.Thedouble wheel balance car has become amore popular part in modern

transportation field.The response speed and stability of the two double balancecars

has gradually become an important index of check and balance the double wheel

balance vehicle technical performance. For the two-wheel balancing car provides an

efficient and accurate motion control system became the premise of expanding the

scope of its applicationThis paper is based on embedded microcontroller processor

platform,choice attitude sensor, designed a low cost, high performance, high

accuracy ofthedouble wheel balancing car control system.

This paper begins with the theory of two wheel balancing car.According to

modernforce analysis andenergy theory to design a mathematical model. According

to the mathematical model todesign reasonable control algorithm. Second, design a

Reasonable mechanical structure, including wheels, frame and motor. Now the most

important thing is to design the hardware circuit. The ARM structure is used as the

main control unit, it is mainly used for the operation and control of other units. Using

an efficient attitude sensor to collect right attitude information, this paper select

MPU6050 as the attitude sensor. Motor drive chip is used to drive two motors.

Finally, this paper programs the two wheel balance control program. Filtering the

collected information by Kaman filtering. After calculation, the main controller

outputs the PWM wave to drive motor to maintain the overall balance of the car

body.

The double wheel balance car has Strong anti-interference ability.The double

wheel balance car can maintain body balance, it can quickly restore balance.It

accords with basic conditionsand greatly improves the stability of the whole system.

Achieve the basic function;the double wheel balance car meets the People's daily life.

- III -

Keywords double wheel balance car; mathematic model; PID control; kalman

filtering

目录

摘要................................................................................................................................................. I

Abstract ......................................................................................................................................... II

第一章 绪论................................................................................................................................ 1

1.1课题研究背景及意义 ........................................................................................ 1

1.2国内外双轮平衡车的发展现状 ........................................................................ 2

1.3主要研究内容 .................................................................................................... 3

第二章 系统总体设计及技术介绍....................................................................................... 5

2.1双轮平衡车总体设计方案 ................................................................................ 5

2.2双轮平衡车受力分析以及动力学模型 ............................................................ 6

2.2.1 双轮平衡车平衡的基本原理 ..................................................................... 6

2.2.2 车轮受力分析 ............................................................................................. 7

2.2.3 车身受力分析 ............................................................................................. 9

2.2.4 系统动能分析 ........................................................................................... 11

2.3PID控制算法 ................................................................................................... 16

2.3.1 PID控制系统简介 ................................................................................... 16

2.3.2 PID控制算法原理 ................................................................................... 16

2.4卡尔曼滤波算法 .............................................................................................. 22

2.4.1卡尔曼滤波简介 ....................................................................................... 22

2.4.2卡尔曼滤波原理 ....................................................................................... 23

2.4.3卡尔曼滤波实现 ....................................................................................... 24

2.5本章小结 .......................................................................................................... 25

第三章 系统硬件设计 .......................................................................................................... 26

3.1双轮平衡车系统结构设计 .............................................................................. 26

3.1.1 平衡车机械机构设计 ............................................................................... 26

3.1.2 平衡车控制系统硬件设计方案 ............................................................... 27

3.2主控制器应用电路设计 .................................................................................. 28

3.2.1 Stm32处理器简介 ................................................................................... 28

3.2.2 主控制模块 ............................................................................................... 29

3.3无线通信模块电路设计 .................................................................................. 30

3.3.1 无线通信模块简介 ................................................................................... 30