毕业论文电动自平衡车

Self-balancing vehicle system design challenge is how to preclude accurate gesture detection and system control algorithm design using low-cost inertial sensors . Accelerometer signal noise is large and vulnerable to interference dynamic acceleration , smooth preclude the use of filtering noise, can effectively remove the noise , but still vulnerable to outside influence acceleration ; gyroscope well eliminate the influence of dynamic acceleration , but with the gyroscope drift , points out there will be a great deviation angle ; so alone gyroscope or accelerometer, can’t obtain a valid and reliable information to ensure the balance of the vehicle, so the calculation complementary filter of gyroscope and accelerometer output signal fusion, interference can be suppressed and the dynamic acceleration gyro error , but at the same time the output waveform of a certain overshoot . Through parameter adjustment , the establishment of a system that can effectively remove the overshoot . By the above method, you can set accurate and timely preclude self-balancing vehicle attitude information to lay a good foundation for the control algorithm design.
北京科技大学本科生毕业设计（论文）
摘要
几年来，随着城市越来越拥挤，两轮自平衡车凭借着它噪音小、能源利用率高，占 地面积小、操控简单、0 半径转弯等优点，逐渐成为一种新型时尚的代步工具，有着广 泛的应用前景。自平衡车两轮左右对称布置，利用加速度计与陀螺仪互相协作进行前后 倾斜角度检测，同时利用角位移传感器进行自平衡车转向控制杆左右倾斜角度的检测， 并将信息输出给单片机，通过相应的控制算法计算出车辆的控制量，用该控制量驱动电 机工作，完成自平衡车前进、后退与转向等动作。驾驶者只需改变身体的重心，自平衡 车就会根据俯仰的方向前进或后退，而车辆的速度则与驾驶人身体倾斜的程度呈正比。 车体的转弯通过车把的左右倾斜角度来控制，不同的倾斜角度对应电机不同的速度差。
本文主要介绍了，两轮的平衡车在国内和国外的现状和发展前景。并且介绍了我制 作的两轮自平衡车的电路部分，控制算法，在完成信号处理和控制算法之后，本文进行 了自平衡车样车的设计，包括样车的电系统设计，包括电源部分，控制部分等，并制作 PCB 板，完成整车的搭建。通过样车上实验，可达到载人稳定的前进，后退和转向。
1.1 国内外自平衡电动车研究及发展现状 .................................................................2 1.1.1 国外的研究现状............................................................................................2 1.1.2 国内的研究现状............................................................................................5
1.2 开展研究的意义 ..................................................Baidu Nhomakorabea....................................................8 2 整车系统结构...................................................................................................................12
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北京科技大学本科生毕业设计（论文）
This paper describes the two rounds of the current situation and development prospects of balancing the car at home and abroad. I produced and introduced the two-wheeled self balancing vehicle part of the circuit , the control algorithm , after the completion of signal processing and control algorithms , the paper carried a self-balancing car -like vehicle design, including design of a prototype vehicle electrical system , including power supply section , the control section , etc. and production of PCB board to complete vehicle structures . Through experiments like the car can reach a stable manned forward, backward and turning.
关键词：双轮自平衡车 陀螺仪
加速度计
互补滤波
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北京科技大学本科生毕业设计（论文）
TWO-WHELLED SELF-BALANCING CEHICLE
Abstract
In recent years , with the city getting crowded, two-wheeled self-balancing vehicle by virtue of its low noise, high energy efficiency , small footprint, simple operation, 0 radius turns , etc. has become a new means of transport , has a broad application prospects. Two-wheeled self-balancing vehicle symmetrical layout, use of accelerometers and gyroscopes in collaboration with each other before and after the tilt angle and angular velocity detection , while taking advantage of the sliding rheostat for testing self-balancing vehicle steering control lever tilt angle , and the information output to the microcontroller, by appropriate control algorithm to calculate the amount of control , drive motor , and completed self-balancing vehicle forward, backward and turning such action . Just after the driver body to lean forward or backward, scooter will tilt forward or backward depending on the direction , and the speed and extent of the driver 's body is proportional to the tilt . Left and right turn of the vehicle body inclination angle of the steering wheel to control the different angle of inclination corresponding to the difference between the motor at different speeds .
自平衡车系统设计的难点在于怎么釆用成本低廉的惯性传感器进行准确的姿态检测 与系统控制算法的设计。加速度计信号噪声大且易受动态加速度干扰，釆用平滑滤波去 噪，可以有效去除噪声，但仍很容易受到外界加速度影响；陀螺仪很好的消除了动态加 速度的影响，但是随着陀螺仪的温漂，积分出的角度会存在很大的偏差；所以单独使用 陀螺仪或者加速度计，都不能获得有效而可靠的信息来保证车辆的平衡，所以釆用互补 滤波对陀螺仪和加速度计输出信号进行融合，可以抑制动态加速度的干扰和陀螺仪的误 差，但同时输出的波形存在一定的过冲现象。通过参数调整，建立一个系统，可以有效 去除过冲现象。通过以上方法，可以准确并及时的釆集到自平衡车姿态信息，为控制算 法的设计奠定良好的基础。
Key Words：Two-wheeled Self-balancing Vehicle Complementary Filter
Gyroscope
Accelerometer
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北京科技大学本科生毕业设计（论文）
目录
摘 要 .................................................................................................................................1 Abstract .................................................................................................................................... 2 引 言 .................................................................................................................................1 1 绪论 .....................................................................................................................................2