【摘要】：本文設(shè)計(jì)并制作了一個(gè)載人兩輪平衡車(chē)，從理論和實(shí)踐中論述了兩輪自平衡車(chē)的工作原理。它與傳統(tǒng)的倒立擺原理基本相似，屬于一個(gè)不穩(wěn)定的體系，要想使其穩(wěn)定的工作，需要用強(qiáng)有力的外部力量加到系統(tǒng)上進(jìn)行控制。本文采用Protel軟件完成硬件系統(tǒng)的原理圖和PCB的設(shè)計(jì)，從器件的選取到電路板的印刷，完成了硬件平臺(tái)的搭建，后續(xù)程序的調(diào)試和最終實(shí)物的制作，從而完成建立了整套系統(tǒng)。平衡車(chē)的軟件采用標(biāo)準(zhǔn)C語(yǔ)言編寫(xiě)，開(kāi)發(fā)環(huán)境采用MPLAB IDE。它集成的開(kāi)發(fā)環(huán)境是綜合編輯器，項(xiàng)目管理器的設(shè)計(jì)平臺(tái)，適合于使用Microchip的PICmicro系列的單片機(jī)進(jìn)行設(shè)計(jì)和應(yīng)用開(kāi)發(fā)，，同時(shí)也是基于Windows操作系統(tǒng)的開(kāi)發(fā)環(huán)境，其中集成編譯器連接器等。輔助軟件包括串口調(diào)試獵人，最后論述了平衡車(chē)的調(diào)試過(guò)程中所注意的問(wèn)題和調(diào)試方法，比如互補(bǔ)卡爾曼濾波器的參數(shù)選定，PID參數(shù)整定等。 本文設(shè)計(jì)的自平衡兩輪車(chē)的主控芯片采用Microchip公司生產(chǎn)的基于PICmicro核的PIC18F4331。在分析了單獨(dú)使用陀螺儀和加速度計(jì)所存在的問(wèn)題后，本設(shè)計(jì)的姿態(tài)數(shù)據(jù)獲取應(yīng)用了MPU6050的加速度計(jì)和陀螺儀互相校準(zhǔn)的方案。電機(jī)驅(qū)動(dòng)采用了先進(jìn)的H橋驅(qū)動(dòng)Mosfet的方案，選用IR公司的IR2184S專(zhuān)用型汽車(chē)電機(jī)驅(qū)動(dòng)芯片。軟件算法采用卡爾曼數(shù)據(jù)融合配合PID控制。算法效率更高且控制效果更加平滑。整合以上硬件電路和軟件算法最終實(shí)現(xiàn)了載人自平衡兩輪車(chē)控制系統(tǒng)的設(shè)計(jì)。
[Abstract]:In this paper, a manned two-wheeled balancing vehicle is designed and manufactured, and the working principle of the two-wheeled self-balancing vehicle is discussed in theory and practice. It is basically similar to the traditional inverted pendulum principle and belongs to an unstable system. In order to make its stable work, it needs to be controlled by strong external forces. In this paper, Protel software is used to complete the schematic diagram of the hardware system and the design of PCB. From the selection of the device to the printing of the circuit board, the hardware platform is built, the subsequent program is debugged and the final physical object is made, thus the whole system is established. The software of balance vehicle is written in standard C language, and the development environment is MPLAB IDE.. Its integrated development environment is the design platform of integrated editor and project manager, which is suitable for the design and application development of PICmicro series single chip microcomputer of Microchip, and it is also the development environment based on Windows operating system, in which the integrated compiler connector and so on. The auxiliary software includes serial port debugging hunter. Finally, the problems and debugging methods in the debugging process of balancing vehicle are discussed, such as parameter selection of complementary Kalman filter, PID parameter tuning and so on. The main control chip of self-balancing two-wheeled vehicle designed in this paper is PIC18F4331. based on PICmicro core produced by Microchip Company. After analyzing the problems existing in the use of gyroscope and accelerometer alone, the attitude data of this design is obtained by using MPU6050 accelerometer and gyroscope to calibrate each other. The advanced H-bridge drive Mosfet scheme is used to drive the motor, and the IR2184S special motor drive chip of IR company is selected. The software algorithm adopts Kalman data fusion and PID control. The algorithm is more efficient and the control effect is smoother. Finally, the control system of manned self-balancing two-wheeled vehicle is designed by integrating the above hardware circuits and software algorithms.
【學(xué)位授予單位】：遼寧工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP273;TP242

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本文編號(hào)：2504313