两轮自平衡小车毕业设计04161120解读

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GY521 MPU-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APP

Design of Two-Wheel Self-Balance Vehicle

Abstract

In the last few years, with the development of commercial self balancing electric vehicle was developed rapidly. Self balancing vehicle has the advantages of small volume, the movement is very flexible, convenient, energy saving etc.. This paper presents a two wheeled self balancing robot design, mechanical structure adopts double motor drive; controlled mainly by the feedback regulation, in order to make the balance of the body better, with the PID regulation; hardware using gyroscope GY521 mpu-6050 to collect the rotation angle of the car body and the rotation angle acceleration. At the same time, acceleration sensor to measure indirectly body rotation angle. St, the low power consumption controller STM32 chip used as the main control, collecting the sensor information filtering, analysis backward and control motor drive, so as to achieve close loop feedback regulation, the realization of the car automatic balance. System design, debugging is completed, the coordination between the various functional components can be achieved, in the case of moderate interference can still maintain a balance. At the same time, you can also use the APP on the mobile phone with the car to control the car's forward and backward and turning.

Key Words: Self balancing car gyroscope sensor filter APP

目录

1.绪论 (1)

1.1研究背景与意义 (1)

1.2自平衡小车的设计要点 (1)

1.2.1整体构思 (1)

1.2.2姿态检测系统 (1)

1.2.3控制算法 (2)

1.3本文主要研究目标与内容 (2)

1.4论文章节安排........................................................................................ 错误!未定义书签。

2. 系统原理分析 (4)

2.1控制系统要求分析 (4)

2.2平衡控制原理分析 (4)

2.3自平衡小车数学模型 (5)

2.3.1两轮自平衡小车受力分析 (5)

2.4 PID控制器设计 (7)

2.4.1 PID控制器原理 (7)

2.4.2 PID控制器设计 (8)

3.系统硬件电路设计 (8)

3.1硬件电路整体框架： (8)

3.2系统运作流程介绍： (9)

3.3下面分各个部分进行介绍： (9)

3.3.1电源供电部分： (9)

3.3.2主控制器部分： (9)

3.3.3陀螺仪传感器部分： (11)

3.3.4马达驱动电路: (12)

3.3.5测速部分： (13)

3.3.7蓝牙通信部分：ZK-07 (14)

3.4本章小结 (15)

4.系统软件设计 (15)

4.1软件系统总体结构 (15)

4.2系统初始化过程 (16)

4.2.1模数转换模块（AD）初始化设置 (16)

4.2.2通用串行通信USART初始化 (16)

4.2.3光栅法测速模块初始化 (16)

4.3平衡PID控制软件实现 (17)

4.4两轮自平衡车的运动控制 (18)

5. 总结与展望 (19)

5.1 总结 (19)

5.2 展望 (19)

参考文献 (20)

附录 (21)