摘要
倒立摆系统姿态状态是一个强耦合的多阶非线性系统。在使用传统的加速度传感器获取数据的基础上,使用卡尔曼滤波的方法,将加速度传感器数据和陀螺仪数据进行融合,以Freescale Cortex_M4内核单片机为核心的惯性测量单元进行试验。卡尔曼滤波器将姿态信息作为系统状态变量进行实时估算滤掉噪声。并且通过实验,观察倒立摆系统实际运行状态,证明了卡尔曼滤波具有良好的动态跟踪能力和抗噪声能力。
Inverted pendulum system is a typical fast, muhivariable, nonlinear, unstable system. It uses the Kalman filter, the acceleration sensor data fusion and gyroscope data to the Freescale Cortex_M4 microcontroller core inertial measurement unit tests based on Traditional acceleration sensors to obtain data. Kalman filter attitude information as the system state variables in real-time estimate filter out noise. And by experiment, observation of the actual running state of the inverted pendulum system, the Kalman filter has a good dynamic tracking capa- bility and anti-noise ability.
出处
《机械管理开发》
2013年第1期62-62,65,共2页
Mechanical Management and Development
关键词
倒立摆
卡尔曼
加速度
陀螺仪
inverted pendulum
Kalman
acceleration
gyroscope
