两轮自平衡电动车论文两轮电动车自平衡控制算法的研究

两轮自平衡电动车两轮电动车自平衡控制算法的研究 两轮自平衡电动车论文:两轮电动车自平衡控制算法的研究 【中文摘要】两轮自平衡电动车是一种新型的交通工具,它与电动自行车和摩托车车轮前后排列方式不同,而是采用两轮并排固定的方式,就像一种两轮平行的机器人一样。该系统是一种两轮左右平行布置的,像传统的倒立摆一样,本身是一个自然不稳定体,必须施加强有力的控制手段才能使之稳定。其体积小、结构简单、运动灵活,适于在狭小和危险的空间内工作,在民用和军事上有着广泛的应用前景。本课题旨在研制一种两轮电动车自平衡控制系统,其工作原理是系统以姿态传感器(陀螺仪、加速度计)来监测车身所处的俯仰状态和状态变化率,通过高速微控制器计算出适当数据和指令后,驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。本文在和归纳国内外两轮自平衡小车的研究现状后,选用AtmeDgal16微控制器、德国冯哈勃Faulhaber带编码器空心杯减速电机2342L012、MMA226D加速度计传感器和EWTS82陀螺仪、驱动车轮、设计制作主板和电机驱动板,组装两轮自平衡电动车模型;通过C语言编写自平衡控制程序,烧录程序,实车验证所选用的控制算法可行性。在研究过程中,本文首先通过建立动力学模型,运用拉格朗日方程来验证系统中三个自由度可否能控,并且求出控制算法中的四个K值,基于陀螺仪存在漂移的问题及加速度计的动态响应慢,对于系统的姿态检测而言,单独使用陀螺仪或者加速度计,都不能提供有效和可靠的信息来反映车体的实时状态。本文对传感器两者所采集的数据进行了卡尔曼 滤波优化处理,补偿陀螺仪的漂移误差和加速度计的动态误差,得到 一个更优的倾角近似值。基于在过程控制中,PID控制器一直是应用 最为广泛的一种自动控制器,PID控制也一直是众多控制方法中应用 最为普遍的控制算法,它解决了自动控制理论所要解决的最基本问题, 既系统的稳定性、快速性和准确性,调节PID的参数,可实现在系统稳 定的前提下,兼顾系统的带载能力和抗扰能力,同时在PID调节器中 引入积分项,系统增加了一个零积点,使之成为一阶或一阶以上的系 统,这样系统阶跃响应的稳态误差就为零。因此本文采用PID算法运 用卡尔曼滤波得出的更优倾角近似值,求出驱动电机的占空比PWM,来 实现两轮自平衡电动车姿态的平衡控制,采用卡尔曼滤波来优化车体 姿态,提高两轮自平衡电动车的控制精度。 【英文摘要】Two-wheeled electric vehicle is a new kind of traffic tool, it with the electric bicycle and motorcycle wheels and arranged in different ways, but with two side-by-side fixed way, like a kind of two parallel robot. The system is a kind of two parallel arrangement, like a traditional inverted pendulum, itself is a natural unstable body, must exert a powerful means of control to stability. Its small size, simple structure, flexible movement, suitable for small space and dangerous work, in the civil and military has a wide application prospect. This paper aims at the development of a two-wheel vehicle self balance control system, its working principle is to attitude sensor ( gyroscope, accelerometer ) to monitor the body at a pitch state and state change rate, through high speed microcontroller calculates the appropriate data and instructions, the drive motor to generate forward or backward acceleration to the body front and rear balance effect.In this paper, summarizing the domestic and foreign two-wheel self-balanced vehicle research the status quo, using Atmegal16 microcontroller, von Harbert Faulhaber encoder hollow cup reducer 2342L012, MMA226D accelerometer sensor and EWTS82 gyroscope, drive wheels, designed the board and motor drive plate assembly, two-wheeled electric models; through the C language since balance control program, recording program, real vehicle test the feasibility of control algorithms.In the course of the study, this paper set up the dynamics model, using the Lagrange equation to verify the system in three degrees of freedom can control, and a control algorithm of four K values, based on gyro drift and accelerometer the problem of slow dynamic response, the system of attitude detection, used alone or gyroscope accelerometer, are unable to provide valid and reliable information to reflect the real state of vehicle. Based on the sensor data collected in the Calman filter optimization processing, compensation of the gyro drift error and dynamic error of accelerometer, to get a better angle approximation. Based on the process control, PID controller has been one of the most widely used automatic controller, PID control has also been numerous control method is the most common application of the control algorithm, which solves the problem of the automatic control theory to solve the basic problem, not only the stability of the system, the rapidity and accuracy, regulation of PID parameters can be realized, the stability of system, balance the system load and anti-interference ability, at the same time in the PID regulator into integration, system adds a zero point, makes the order or first order above the system, so the system step response of the steady-state error is zero. This paper uses the PID algorithm based on Calman filter was better angle approximation, and a drive motor of the duty ratio PWM, to achieve two-wheel self-balanced vehicle attitude balance control, Calman filter is adopted to optimize the body posture, improve the control precision of the self-balanced two-wheel electric vehicle. 【关键词】两轮自平衡电动车 PID 卡尔曼滤波 陀螺仪 【英文关键词】two-wheeled electric vehicle PID Calman filter accelerometer gyroscope 【备注】索购全文在线加我:1.3.9.9.3.8848 同时提供论文一对一写作指导和论文发委托服务 【目录】两轮电动车自平衡控制算法的研究 摘要 5-6 ABSTRACT 6-7 第一章 绪论 10-17 1.1 两轮自平衡电动车简介 10-11 1.2 选题的背景 11-12 1.3 国内外研究现状 12-14 1.4 本文研究的内容和意义 14-17 第二章 建立两轮自平衡电动小车动力学模型 17-25 2.1 引言 17 2.2 两轮自平衡电动小车的结构和动态平衡原理 17-18 2.2.1 两轮自平衡电动小车的结构 17 2.2.2 两轮自平衡电动小车的动态平衡原理 17-18 2.3 建立两轮自平衡电动小车动力学模型 18-24 2.3.1 建立坐标系 18-19 2.3.2 系统模型参数 19-20 2.3.3 系统动能计算 20-24 2.4 本章总结 24-25 第三章 常规PID 与卡尔曼滤波控制算法的研究 25-39 3.1 引言 25 3.2 常规PID 控制算法的介绍 25-26 3.3 卡尔曼滤波的介绍 26-28 3.4 程序设计思路 28-38 3.4.1 先进行外部中断初始化 29 3.4.2 进行AVR 单片机输出端口初始化 29-30 3.4.3 进行AVR 定时器初始化 30 3.4.4 对串口进行初始化 30 3.4.5 对INTO INT1 两个端子进行定义. 30-31 3.4.6 AD 采样 31 3.4.7 卡尔曼滤波 31-33 3.4.8 电机PWM 控制 33-38 3.5 本章总结 38-39 第四章 实施验证 39-51 4.1 引言 39 4.2 两轮自平衡电动小车的制作 39-49 4.2.1 配件制作 39-45 4.2.3 传感器的使用 45-49 4.3 验证与数据分析 49-50 4.4 本章小结 50-51 第五章 结论与展望 51-53 参考文献 53-55 附录1 印刷电路板设计图 55-57 附录2 源程序 57-71 致谢 71-72 附件 72