摘要
介绍了两轮自平衡小车控制系统的设计与实现,系统以飞思卡尔公司的16位微控制器MC9S12XS128MAL作为核心控制单元,利用加速度传感器MMA736l测量重力加速度的分量,即小车的实时倾角,以及利用陀螺仪ENC-03MB测量小车的实时角速度,并利用光电编码器采集小车的前进速度,实现了小车的平衡和速度控制。在小车可以保持两轮自平衡前提下,采用摄像头CCDTSL1401作为路径识别传感器,实时采集赛道信息,并通过左右轮差速控制转弯,使小车始终沿着赛道中线运行。实验表明,该控制系统能较好地控制小车平衡快速地跟随跑道运行,具有一定的实用性。
This paper introduces the design and realization of the two wheeled vehicle control system. It uses the 16 bit micro controller MC9S12XS128MAL of Freescale as the core control unit, uses acceleration sensor MMA7361 to measure gravity acceleration component, namely real-time angle of car, and uses real-time angular velocity gyroscope ENC-03MB measuring trolley, and the forward speed acquisition of photoelectric encoder, which realizes balance and speed control of the car. The car can keep the two wheeled self balanced premise, using the camera CCD-TSL1401 as the path recognition sensor, to get the real-time acquisition and track information, and through the left and right wheel differential control turn, the car along the track line operation. Experiments show that, the control system can effectively control the car balance follow the track operation quickly, has a certain practicality.
出处
《微型机与应用》
2014年第11期19-21,25,共4页
Microcomputer & Its Applications
基金
2013年广东省大学生创新创业训练计划项目(五邑大学65号)
关键词
控制
自平衡
实时性
control
self balance
real-time control
