摘要
载人两轮平衡车是一种两轮左右平行布置结构,是一种自然不稳定体。该设计制作的两轮自平衡车在对互补滤波、角度融合理论进行一定研究的基础上,利用飞思卡尔的微控制器MC9S12XS128MAL,以及ADXL345加速度传感器和ENC-03陀螺仪作为运动状态感知系统,并借助PID控制MC9S12XS128MAL芯片的PWM波输出和驱动控制电机转向及转速,实现了小车的动态自平衡。
The manned two-wheel balancing system was a kind of two parallel arrangement structure. Itself was a natural unstable body. By studying complementary filter and angle fusion theory, this paper designed a self-balanced two-wheel vehicle. It used Freescale＇s MC9S 12XS128MAL microcontroller, ADXL345 accelerome- ter and EN-03 gyroscope as the car state sensing systems, and with the aid of Incremental PID controlled MCU＇s PWM wave output and the MC9S12XS128MAL chip, the system achieved dynamic balance function.
出处
《科技广场》
2013年第2期253-256,共4页
Science Mosaic
