本文關(guān)鍵詞： 自平衡 卡爾曼濾波 PID控制 單片機(jī)　出處：《長(zhǎng)安大學(xué)》2013年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：汽車(chē)的普及是大勢(shì)所趨，汽車(chē)電控水平的高低及汽車(chē)電器智能化的程度被看作是衡量現(xiàn)代汽車(chē)水平的重要標(biāo)志。隨著汽車(chē)電子技術(shù)和機(jī)器人智能技術(shù)的快速發(fā)展，對(duì)智能車(chē)輛的研究已經(jīng)成為自動(dòng)控制領(lǐng)域內(nèi)的一個(gè)研究熱點(diǎn)。智能汽車(chē)是一種集環(huán)境感知，規(guī)劃決策，自動(dòng)行駛等功能于一體的綜合高新科技系統(tǒng)，它的應(yīng)用涉及到眾多學(xué)科，諸如自動(dòng)控制、模式識(shí)別、計(jì)算機(jī)視覺(jué)、傳感器技術(shù)、車(chē)輛工程、電子與電氣、單片機(jī)等眾多學(xué)科。 教育部舉辦的“飛思卡爾”智能汽車(chē)大賽，是一項(xiàng)綜合性很強(qiáng)的賽事，能夠充分調(diào)動(dòng)大學(xué)生對(duì)智能汽車(chē)的興趣，培養(yǎng)大學(xué)生進(jìn)行科學(xué)研究的能力，提高大學(xué)生的動(dòng)手能力和科技創(chuàng)新能力。本文以第七屆“飛思卡爾”智能汽車(chē)大賽為研究背景，運(yùn)用MC9S12XS128單片機(jī)，設(shè)計(jì)一種基于電磁導(dǎo)航的兩輪自平衡車(chē)系統(tǒng)，并實(shí)現(xiàn)車(chē)模的直立行走，自主尋跡功能。系統(tǒng)采用飛思卡爾十六位微處理器MC9S12XS128作為核心控制單元，，通過(guò)運(yùn)用各種傳感器，設(shè)計(jì)穩(wěn)壓模塊、最小系統(tǒng)模塊、雙輪測(cè)速模塊、傾角測(cè)量模塊、電機(jī)驅(qū)動(dòng)模塊和人機(jī)交互模塊并編寫(xiě)相應(yīng)程序以完成平衡控制，速度控制，轉(zhuǎn)向控制三大任務(wù)。文中通過(guò)對(duì)倒立擺進(jìn)行動(dòng)力學(xué)建模，類(lèi)比得到車(chē)模的平衡條件。首先利用陀螺儀和加速度計(jì)獲得車(chē)模的傾角和角速度，并進(jìn)行卡爾曼濾波，并對(duì)傾角進(jìn)行PD控制(比例-微分控制)實(shí)現(xiàn)車(chē)模的直立。通過(guò)光電編碼器分別測(cè)得車(chē)模的線速度和轉(zhuǎn)向角速度，對(duì)速度進(jìn)行PI控制(比例-積分控制)。將轉(zhuǎn)速控制信號(hào)與平衡控制信號(hào)疊加加載到后輪兩電機(jī)上，實(shí)現(xiàn)車(chē)模的靜止和直立行走。通過(guò)道路電磁中心線偏差檢測(cè)與電機(jī)差動(dòng)控制，保證車(chē)模在賽道上行駛，并對(duì)方向控制量和車(chē)體轉(zhuǎn)動(dòng)角速度進(jìn)行PD控制可實(shí)現(xiàn)車(chē)模的方向控制。 最后對(duì)系統(tǒng)機(jī)械機(jī)構(gòu)進(jìn)行了安裝調(diào)試，同時(shí)對(duì)三個(gè)控制模塊的控制參數(shù)進(jìn)行了靜態(tài)及動(dòng)態(tài)的調(diào)整，對(duì)整套系統(tǒng)進(jìn)行實(shí)車(chē)賽道調(diào)試，實(shí)現(xiàn)智能車(chē)快捷、穩(wěn)定、靈活的自主行駛。
[Abstract]:The popularity of automobile is the trend of the times. The level of automobile electronic control and the degree of intelligent automobile electrical appliance are regarded as the important symbol to measure the level of modern automobile. With the rapid development of automotive electronic technology and robot intelligent technology, The research of intelligent vehicle has become a research hotspot in the field of automatic control. Intelligent vehicle is a kind of integrated high-tech system with the functions of environment perception, planning and decision making, automatic driving and so on. Its application involves many disciplines. Such as automatic control, pattern recognition, computer vision, sensor technology, vehicle engineering, electronics and electricity, microcontroller and many other disciplines. The "Freescale" Intelligent car Competition, organized by the Ministry of Education, is a comprehensive competition that can fully mobilize the interest of college students in intelligent cars and foster their ability to conduct scientific research. Based on the research background of the 7th "Freescale" Intelligent Automobile Competition, a two-wheel self-balancing vehicle system based on electromagnetic navigation is designed by using MC9S12XS128 single chip microcomputer. The system adopts Freescale 16 bit microprocessor MC9S12XS128 as the core control unit, through the use of various sensors, design the steady voltage module, the minimum system module, the double wheel speed measurement module, the system adopts the Freescale 16 bit microprocessor MC9S12XS128 as the core control unit, and designs the steady voltage module, the minimum system module, the double wheel velocity measurement module, The measurement module of inclination angle, motor driving module and man-machine interaction module are programmed to accomplish three tasks: balance control, speed control and steering control. In this paper, the dynamic modeling of inverted pendulum is carried out. The equilibrium conditions of the model are obtained by analogy. Firstly, the inclination angle and angular velocity of the model are obtained by using gyroscopes and accelerometers, and the Kalman filter is carried out. PD control (proportional differential control) is used to control the inclination angle to achieve the vertical position of the vehicle model. The linear velocity and the steering angular velocity of the model are measured by photoelectric encoder respectively. The speed is controlled by Pi (proportional integral control). The speed control signal and the balance control signal are superimposed on the rear wheel two motors to realize the static and upright walking of the vehicle model. The electromagnetic centerline deviation detection of the road and the differential control of the motor are carried out. The direction control of the vehicle model can be realized by ensuring that the vehicle model is running on the track, and the other side can control the vehicle model direction by PD control to the control quantity and the rotation angular velocity of the car body. Finally, the system mechanical mechanism is installed and debugged, and the control parameters of the three control modules are adjusted statically and dynamically, and the whole system is debugged to realize the intelligent vehicle driving quickly, stably and flexibly.
【學(xué)位授予單位】：長(zhǎng)安大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：U48;TP368.12

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