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该文提出了一种两轮直立自平衡车的设计方案.采用陀螺仪判断小车的原有姿势状态,加速度传感器计算车体的倾斜角度,滤波算法抵消原有角度的倾斜,采用XS128处理器处理数据和控制小车,最终达到车体的平衡.实验结果表明:小车自行保持直立,并且具有较好的回复平衡能力.该车是验证各种控制算法的理想平台,具有一定的应用前景.
In this paper, a design scheme of two-wheeled vertical self-balancing vehicle is proposed.Using a gyroscope to judge the original attitude of the car, the acceleration sensor calculates the tilt angle of the car body, and the filtering algorithm counteracts the inclination of the original angle and adopts XS128 processor Data and control the car, and ultimately achieve the balance of the car body.The experimental results show that: the car to maintain its own upright, and has a good balance of recovery ability.The car is an ideal platform to verify a variety of control algorithms, has a certain application prospects.