两轮自平衡智能车系统设计

针对智能汽车竞赛中的电磁组参赛要求，提出了两轮自平衡智能车系统的设计方案。主控芯片采用飞思卡尔公司的MC9S12XS128，选用加速度传感器检测车模的倾角，陀螺仪检测车模的角加速度；通过控制两个电机的加减速实现车模的自平衡控制。阐述了卡尔曼滤波法在陀螺仪和加速度传感器信号融合方面的应用，提出了针对闭环速度控制的PI算法。实验表明：该处理方法实现简单，能够准确、快速地实现车模的自平衡控制。

Design of Self Balancing Car with Two Wheels

Aiming at the electromagnetic group of intelligent car competition, a design of self balancing intelligent car with two wheels is presented in this paper. Taking Freescale MC9S12XS128 as main control chip, the system uses an accelerometer sensor to detect the an- gle of the model, a gyroscope to determine the angular acceleration, and with control of the two motors to complete self balancing control of the model. The signal fusion application of gyroscope and accelerometer based on Calman filtering method is discussed, and the PI al- gorithm for speed closed-loop control is proposed. Experiments show that the processing method is simple to realize, and can realize the function of self balance control accurately and rapidly.