文献类型：期刊文献

中文题名：双轮自平衡寻迹智能车设计

英文题名：Two-wheel self-balancing track intelligent vehicle design

作者：刘韶清[1];黄毅彬[1];陈景贤[1]

机构：[1]广东海洋大学电子与信息工程学院,广东湛江524088

年份：2018

卷号：29

期号：21

起止页码：17

中文期刊名：电子测试

外文期刊名：Electronic Test

语种：中文

中文关键词：自动循迹;两轮自平衡小车;PID算法

外文关键词：automatic tracking;Two-wheel self-balancing trolley;PID algorithm

中文摘要：该自平衡双轮移动小车采用freescalekenitisK60DN512Z单片机作为唯一的核心控制器,小型直流电机作为驱动部分,运用MPU6050模块来获取车体信息,进而弥补加速度计的动态误差和陀螺仪的漂移误差,得到更精确的倾角值。通过光电编码器测速,构成带速度反馈的伺服控制系统。电磁识别路径,采用卡尔曼滤波算法进行信号处理。采用增量型PID算法进行直立平衡、转向和速度调节。实验证明:小车系统寻迹识别良好,保持系统平衡同时还能够完成复杂环境下的速度、路径伺服跟踪任务或自主移动的任务,最终实现了模型车在规定路径上,智能识别路线,快速行驶。

外文摘要：The self-balancing two-wheel mobile trolley USES the freescalekenitis K60DN512Z single chip computer as the only core controller, and the small dc motor as the driving part, and USES the MPU6050 module to obtain the vehicle body information, so as to make up the dynamic error of the accelerometer and the drift error of the gyroscope and get a more accurate dip value. By using photoelectric encoder to measure the speed, the servo control system with speed feedback is constructed. Electromagnetic identification path, using kalman filtering algorithm for signal processing. The incremental PID algorithm is used for vertical balancing, steering and speed adjustment. The experimental results show that the tracking recognition of the vehicle system is good, the system is balanced, and the vehicle can complete the tasks of speed, path servo tracking or autonomous movement in the complex environment. Finally, the model vehicle can realize intelligent identification of the route and fast driving on the specified path.