| 一种自平衡机器人的制作和研究 |
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| 引用本文： | 李慧琴,韩建海,赵书尚,刘少东.一种自平衡机器人的制作和研究[J].机床与液压,2006(12):95-96,98. |
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| 作者姓名： | 李慧琴 韩建海 赵书尚 刘少东 |
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| 作者单位： | 河南科技大学机电工程学院,河南洛阳,471003 |
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| 摘 要： | 阐述了一种自平衡机器人的构成、控制系统的工作原理、硬件电路和控制算法。其系统结构主要由机械行走装置、控制系统和传感器三大部分组成，机械行走装置主要由车体平台、小型直流电机和左、右车轮组成。控制系统以C8051F310单片机为核心，由电池模块、电机驱动芯片及外围电路组成。车体平台位姿的监测采用倾角传感器。通过对实物进行控制试验，验证了该系统的合理性和有效性。
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| 关 键 词： | 自平衡机器人 C8051F310单片机 倾角传感器 |
| 文章编号： | 1001-3881（2006）12-095-2 |
| 收稿时间： | 2005-10-28 |
| 修稿时间： | 2005-10-28 |
Fabrication and Research of a Kind of Self-balancing Robots |
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| LI Huiqin,HAN Jianhai,ZHAO Shushang,LIU Shaodong.Fabrication and Research of a Kind of Self-balancing Robots[J].Machine Tool & Hydraulics,2006(12):95-96,98. |
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| Authors: | LI Huiqin HAN Jianhai ZHAO Shushang LIU Shaodong |
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| Affiliation: | School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang Henan 471003, China |
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| Abstract: | The structure of system, operating principle of control system, hardware circuitry and control algorithm of a kind of self - balancing robots were described. Self - balancing robot is made of three parts including mechanism walking apparatus, control system and sensors. Mechanism walking apparatus are comprised of bodywork, small direct current motors and two wheels. Control system is controlled by C8051F310 microprocessor which consists of battery module, motor driver chips and outer circuitry. Clinometer was used to measure the gesture of self - balancing robot. The validity and rationality of the system were confirmed through the performance experiments of the robot. |
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| Keywords: | Self - balancing robot C8051 F310 singlechipmicrocomputer Sensor |
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