共查询到18条相似文献,搜索用时 125 毫秒
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着重分析了两轮自平衡小车的设计原理与控制算法,采用卡尔曼滤波算法融合陀螺仪与加速度计信号,得到系统姿态倾角与角速度最优估计值,通过双闭环数字PID 算法实现系统的自平衡控制。设计了以MPU-6050传感器为姿态感知的两轮自平衡小车系统,选用8位单片机HT66FU50A为控制核心处理器,完成对传感器信号的采集处理、车身控制以及人机交互的设计,实现小车自主控制平衡状态、运行速度以及转向角度大小等功能。 相似文献
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针对于现在流行的两轮自平衡车,设计了一个与其原理相似的研究型平衡小车系统。该系统以STM32为主控芯片,采MPU6050采集小车的姿态。然后通过卡尔曼滤波融对数据进行融合处理,最后利用PID控制算法计算电机的PWM值以控制电机的合理转动'使小车保持平衡。系统利用自制的无线遥控模块中的NRF24L01模块传输控制信号模拟人体姿态调制,控制小车的行走。 相似文献
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《Mechatronics》2020
In order to increase the mobility and dynamic agility of a two-wheeled self-balancing vehicle, a dynamic posture control strategy for the initial state transition is proposed in terms of a well-planned nonlinear reference trajectory. The dynamic trajectory planning for the underactuatedmobile inverted pendulum is conducted by solving a two-point boundary value problem with the constraint equation of internal dynamics. The restriction of the offline trajectories for real-time applications is relaxed by establishing a semi-online planning method by assuming velocity-controlled missions. For the transition tasks requiring high maneuver motions including quick start and stop and quick speed change, the proposed control scheme is profitable to stabilize the initial transient motion and get over the performance limit of the conventional feedback-only control with typical step reference inputs. As a result, it enables to achieve consistent state transition to the target velocity and requires just minimal control efforts. 相似文献
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本文设计了两轮自平衡移动机器人各个功能模块单元,介绍了自平衡原理,对视觉跟踪给出了目标物体在视觉模块中坐标与中心位置差值计算方法并给出了视觉跟踪策略;给出了系统整体程序框架以及图像处理与发送程序框架,对视觉跟踪进行了相应测试实验,测试结果达到预期效果. 相似文献
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两轮自平衡机器人系统设计、建模及LQ控制 总被引:1,自引:0,他引:1
设计一个以TMS320F2812DSP为控制核心、2个独立驱动的同轴直流电机为执行机构的两轮自平衡机器人,其姿态传感器包括倾角仪、速率陀螺和电机编码器。依据经典牛顿力学建立线性系统数学模型,采用LQR方法得到系统的反馈系数后,进行系统仿真实验和实际物理系统实验。实验结果表明,该系统的建模和控制器的设计是合理和有效的,且所设计的DSP控制程序可以方便的实现其他控制算法,并且可得到系统运行时各状态的值,为数据分析和传感器信号的处理提供方便。 相似文献
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JOE: a mobile, inverted pendulum 总被引:8,自引:0,他引:8
Grasser F. D'Arrigo A. Colombi S. Rufer A.C. 《Industrial Electronics, IEEE Transactions on》2002,49(1):107-114
The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state-space controllers, pilots the motors so as to keep the system in equilibrium 相似文献
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Oryschuk P. Salerno A. Al-Husseini A.M. Angeles J. 《Mechatronics, IEEE/ASME Transactions on》2009,14(2):252-257
Reported in this paper are the implementation and testing of the real-time control of a two-wheeled mobile robot. The robot is underactuated, its mobility and control inputs being three and two, respectively. The control challenge faced here is to reduce the oscillations of the intermediate body while following a desired path. A controller, introduced elsewhere, is implemented using a real-time operating system on a novel control architecture. The control algorithm was tested using three different test motions: translational, rotational, and uphill. 相似文献