（最终版）(1) - 图文

基于STC12C5A60S2的双轮平衡车控制系统设计

【摘 要】 双轮自平衡小车是一个高度不稳定两轮机器人，是一种多变量、非

线性、绝对不稳定的系统，且因其运动环境复杂、运动学方程中的非完整约束，所以其控制任务也具有复杂性，需要在完成平衡控制的同时又要实现直立行走，本文主要介绍了以STC12C5A60S2单片机作为核心控制器的双轮平衡车控制系统设计方案。系统采用MPU6050六轴传感器，采集角度和角速度，应用卡尔曼融合滤波方式及PID控制算法，控制直流电机实现自平衡小车的平衡和直立行走。经过系统测试，基本达到设计要求。

【关键词】 双轮平衡车 STC12C5A60S2 控制系统

Based on STC12C5A60S2 of the Two-wheeled Balancing

Vehicle Control System Design

【Abstract】: Two-wheeled self-balancing cars is a highly unstable

two-wheeled robot, is a kind of multivariable, nonlinear and absolutely unstable systems, and because of its complex movement environment, the kinematics equations of the nonholonomic constraints, also is complex, so its control tasks need to complete balance control to achieve walking upright again at the same time, this article mainly introduced the STC12C5A60S2 microcontroller as the core controller of the two-wheel balancing car control system design scheme. System adopts MPU6050 six axis sensor, acquisition Angle and angular velocity, the application of kalman filtering fusion method and PID control algorithm, realize the balance control dc motor car balance and walking upright. Through the system test, basically meet the design requirements.

【 Keywords】: The Two-wheeled balancing vehicle STC12C5A60S2 The

control system

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目 录

第1章 引言 .............................................................................................................................. 3

1.1 双轮自平衡小车的研究意义 ................................................................................... 3 1.2 双轮自平衡小车的发展历程和现状 ....................................................................... 3 1.3 本课题的研究内容和关键问题 ............................................................................... 4 第2章 双轮平衡小车系统的总体概述 .................................................................................. 5

2.1 系统组成 ................................................................................................................... 5 2.2 系统各模块的主要功能 ........................................................................................... 5 2.3 系统的主要特点 ....................................................................................................... 5 第3章 双轮平衡小车系统的原理 .......................................................................................... 6

3.1 小车直立平衡物理分析与数学建模 ....................................................................... 6 3.2 角度、角速度及车速的数据采集与处理 ............................................................... 8 3.3 PID控制技术 .......................................................................................................... 13 3.4 车模速度控制 ......................................................................................................... 14 第4章 系统硬件电路设计 .................................................................................................... 17

4.1 单片机最小系统模块设计 ..................................................................................... 17 4.2 红外光电传感器GK102测速电路设计 ................................................................. 17 4.3 NRF24L01无线模块控制电路设计 ........................................................................ 18 4.4 六轴模块电路图 ..................................................................................................... 19 4.5 AD转换电路的设计 ................................................................................................ 20 4.6 电源电路模块设计 ................................................................................................. 20 4.7 直流电机的驱动电路 ............................................................................................. 21 第5章 系统软件设计 ............................................................................................................ 22

5.1 软件设计的总体思路 ............................................................................................. 22 5.2 系统程序设计主要流程图 ..................................................................................... 22 第6章 测试方案与测试结果 ................................................................................................ 26

6.1 调试参数 ................................................................................................................. 26 6.2 车模初步调试 ......................................................................................................... 26 6.3 静态参数调试 ......................................................................................................... 29 结束语 ...................................................................................................................................... 32 致 谢 ...................................................................................................................................... 33 参考文献 .................................................................................................................................. 34 附录 .......................................................................................................................................... 35

附录1：实物图 ................................................................................................................ 35 附录2：系统总原理图 .................................................................................................... 36 附录3：单片机最小系统PCB图 .......... …… 此处隐藏：6957字，全部文档内容请下载后查看。喜欢就下载吧 ……