本文選題：兩輪智能平衡車 + 控制系統(tǒng)　； 參考：《長安大學(xué)》2017年碩士論文

【摘要】：隨著科學(xué)技術(shù)的飛速發(fā)展,我國在智能機(jī)器人領(lǐng)域獲得了驕人的成績,為人們的生產(chǎn)、生活帶來了便捷。本文所研究的兩輪智能平衡車屬于一種典型的智能機(jī)器人,其動力學(xué)系統(tǒng)具有多變量、強(qiáng)耦合、非線性以及參數(shù)不確定等特點(diǎn)�？梢栽诤苄〉目臻g內(nèi)實(shí)現(xiàn)轉(zhuǎn)彎,綠色環(huán)保,是一種理想的代步工具。對該系統(tǒng)的研究具有很高的理論價(jià)值和實(shí)用價(jià)值。本文將對兩輪智能平衡車的軟硬件系統(tǒng)進(jìn)行設(shè)計(jì),使系統(tǒng)最終能夠?qū)崿F(xiàn)靜態(tài)平衡和動態(tài)平衡。主要研究工作如下:(1)分析兩輪智能平衡車的平衡原理和轉(zhuǎn)向原理,建立了車輪、車體、和電機(jī)三者動能模型,進(jìn)而利用拉格朗日方法建立了兩輪智能平衡車數(shù)學(xué)模型。(2)以STM32為主控芯片,設(shè)計(jì)了兩輪智能平衡車控制系統(tǒng)的主控板和驅(qū)動板電路,主控板電路包括電源轉(zhuǎn)換電路、STM32最小系統(tǒng)以及平衡車姿態(tài)、速度及轉(zhuǎn)向信息采集電路,驅(qū)動板包括以IR2130為驅(qū)動芯片的門極驅(qū)動電路以及三相橋式逆變電路。(3)分析六軸運(yùn)動處理組件MPU6050中加速度計(jì)與陀螺儀測量平衡車車體傾斜角度的原理,設(shè)計(jì)了一種卡爾曼濾波融合算法,對兩者信息進(jìn)行處理,得到更為準(zhǔn)確的傾角信息,最后應(yīng)用MATLAB仿真對設(shè)計(jì)的濾波融合算法進(jìn)行了有效性驗(yàn)證。(4)在硬件平臺建立的基礎(chǔ)之上,對兩輪智能平衡車數(shù)據(jù)采集、PID控制以及WIFI通信系統(tǒng)程序進(jìn)行設(shè)計(jì),以此為基礎(chǔ),搭建了平衡車測試平臺,對電機(jī)驅(qū)動系統(tǒng)、平衡車直立、加速和轉(zhuǎn)彎性能進(jìn)行測試,驗(yàn)證了軟硬件系統(tǒng)的可行性。
[Abstract]:With the rapid development of science and technology, our country has obtained remarkable achievements in the field of intelligent robot, which brings convenience to people's production and life. The two-wheel intelligent balancing vehicle studied in this paper is a kind of typical intelligent robot. Its dynamic system has the characteristics of multi-variable, strong coupling, nonlinear and uncertain parameters. Can achieve in very small space turn, green, is an ideal walking tool. The research on this system has high theoretical and practical value. In this paper, the hardware and software system of two-wheel intelligent balancing vehicle is designed, so that the system can realize static balance and dynamic balance finally. The main research work is as follows: (1) analyzing the balance principle and steering principle of the two-wheel intelligent balancing vehicle, and establishing the kinetic energy model of the wheel, the car body, and the motor. Then the mathematical model of two-wheel intelligent balancing vehicle is established by using Lagrange method. The main control board and drive board circuit of the two-wheel intelligent balancing vehicle control system are designed with STM32 as the main control chip. The main control board circuit includes the power conversion circuit STM32 minimum system and the balancing vehicle attitude, speed and steering information acquisition circuit. The driving board consists of a gate drive circuit with IR2130 as the driving chip and a three-phase bridge inverter circuit. The principle of measuring the tilt angle of the balanced car body by accelerometer and gyroscope in the six-axis motion processing module MPU6050 is analyzed. A Kalman filter fusion algorithm is designed to process the two information and obtain more accurate obliquity information. Finally, the MATLAB simulation is used to verify the validity of the designed filtering fusion algorithm on the basis of the establishment of the hardware platform. The data acquisition pid control and WIFI communication system program of two-wheel intelligent balancing vehicle are designed. Based on this, a test platform for balancing vehicle is built to test the performance of motor drive system, balancing vehicle vertical, acceleration and turning. The feasibility of the hardware and software system is verified.
【學(xué)位授予單位】：長安大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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