两轮自平衡小车毕业设计04161120

I两轮自平衡小车的设计摘要最近这几年来，自平衡电动车的研发与商用获得了快速发展。自平衡车具有体积小，运动十分灵活，便利，节能等特点。本文提出了一种双轮自平衡小车的设计方案，机械结构采用了双轮双马达驱动；控制主要采用的是反馈调节，为了使车体更好的平衡，使用了PID调节方式；硬件上采用陀螺仪GY521MPU-6050来采集车体的旋转角度以及旋转角加速度，同时采用了加速度传感器来间接测量车体旋转角度。采用意法半导体ST公司的低功耗控制器芯片stm32作为主控，采集上述传感器信息进行滤波，分析等操作后进而控制马达的驱动，从而达到反馈调节的闭环，实现小车的自动平衡。系统设计，调试完成后，能够实现各个功能部件之间协调工作，在适度的干扰情形下仍然能够保持平衡。同时，也可以使用手机上的APP通过蓝牙与小车通信控制小车的前进和后退以及转弯。关键词：自平衡小车陀螺仪传感器滤波APPIIDesignofTwo-WheelSelf-BalanceVehicleAbstractInthelastfewyears,withthedevelopmentofcommercialselfbalancingelectricvehiclewasdevelopedrapidly.Selfbalancingvehiclehastheadvantagesofsmallvolume,themovementisveryflexible,convenient,energysavingetc..Thispaperpresentsatwowheeledselfbalancingrobotdesign,mechanicalstructureadoptsdoublemotordrive;controlledmainlybythefeedbackregulation,inordertomakethebalanceofthebodybetter,withthePIDregulation;hardwareusinggyroscopeGY521mpu-6050tocollecttherotationangleofthecarbodyandtherotationangleacceleration.Atthesametime,accelerationsensortomeasureindirectlybodyrotationangle.St,thelowpowerconsumptioncontrollerSTM32chipusedasthemaincontrol,collectingthesensorinformationfiltering,analysisbackwardandcontrolmotordrive,soastoachievecloseloopfeedbackregulation,therealizationofthecarautomaticbalance.Systemdesign,debuggingiscompleted,thecoordinationbetweenthevariousfunctionalcomponentscanbeachieved,inthecaseofmoderateinterferencecanstillmaintainabalance.Atthesametime,youcanalsousetheAPPonthemobilephonewiththecartocontrolthecar'sforwardandbackwardandturning.KeyWords:SelfbalancingcargyroscopesensorfilterAPPIII目录1.绪论........................................................................................................................11.1研究背景与意义...................................................................................................................11.2自平衡小车的设计要点.......................................................................................................11.2.1整体构思........................................................................................................................11.2.2姿态检测系统................................................................................................................11.2.3控制算法........................................................................................................................21.3本文主要研究目标与内容...................................................................................................21.4论文章节安排........................................................................................错误!未定义书签。2.系统原理分析......................................................................................................42.1控制系统要求分析...............................................................................................................42.2平衡控制原理分析...............................................................................................................42.3自平衡小车数学模型...........................................................................................................52.3.1两轮自平衡小车受力分析............................................................................................52.4PID控制器设计...................................................................................................................72.4.1PID控制器原理............................................................................................................72.4.2PID控制器设计............................................................................................................83.系统硬件电路设计................................................................................................83.1硬件电路整体框架：...........................................................................................................83.2系统运作流程介绍：...........................................................................................................93.3下面分各个部分进行介绍：...............................................................................................93.3.1电源供电部分：............................................................................................................93.3.2主控制器部分：............................................................................................................93.3.3陀螺仪传感器部分：..................................................................................................113.3.4马达驱动电路:.............................................................................................................123.3.5测速部分：..................................................................................................................133.3.7蓝牙通信部分：ZK-07...............................................................................................143.4本章小结.............................................................................................................................154.系统软件设计......................................................................................................154.1软件系统总体结构....................................................................................................