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本科毕业设计（论文）题目两轮自平衡小车的设计学院电气与自动化工程学院年级专业班级学号学生姓名指导教师职称论文提交日期I两轮自平衡小车的设计摘要近年来，两轮自平衡车的研究与应用获得了迅猛发展。本文提出了一种两轮自平衡小车的设计方案，采用陀螺仪ENC-03以及MEMS加速度传感器MMA7260构成小车姿态检测装置，使用卡尔曼滤波完成陀螺仪数据与加速度计数据的数据融合。系统选用飞思卡尔16位单片机MC9S12XS128为控制核心，完成了传感器信号的处理，滤波算法的实现及车身控制，人机交互等。整个系统制作完成后，各个模块能够正常并协调工作，小车可以在无人干预条件下实现自主平衡。同时在引入适量干扰情况下小车能够自主调整并迅速恢复稳定状态。小车还可以实现前进，后退，左右转等基本动作。关键词：两轮自平衡陀螺仪姿态检测卡尔曼滤波数据融合IIDesignofTwo-WheelSelf-BalanceVehicleAbstractInrecentyears,theresearchandapplicationoftwo-wheelself-balancedvehiclehaveobtainedrapiddevelopment.Thispaperpresentsadesignschemeoftwo-wheelself-balancedvehicle.GyroscopeENC-03andMEMSaccelerometerMMA7260constitutevehicleposturedetectiondevice.SystemadoptsKalmanfiltertocompletethegyroscopedataandaccelerometerdatafusion.，andadoptsfreescale16-bitmicrocontroller-MC9S12XS128ascontrollercore.Thecentercontrollerrealizesthesensorsignalprocessingthesensorsignalprocessing,filteringalgorithmandbodycontrol,human-machineinteractionandsoon.Uponcompletionoftheentiresystem,eachmodulecanbenormalandtocoordinatework.Thevehiclecankeepbalancinginunmannedcondition.Atthesametime,thevehiclecanbeadjustedindependentlythenquicklyrestorestabilitywhenthereisamoderateamountofinterference.Inaddition,thevehiclealsocanachieveforward,backward,leftandrightturnandotherbasicmovements.KeyWords:Two-WheelSelf-Balance;Gyroscope;Gesturedetection;Kalmanfilter;DatafusionIII目录1.绪论·························································································11.1研究背景与意义·······················································································11.2两轮自平衡车的关键技术···········································································21.2.1系统设计···························································································21.2.2数学建模···························································································21.2.3姿态检测系统·····················································································21.2.4控制算法···························································································31.3本文主要研究目标与内容···········································································31.4论文章节安排··························································································32.系统原理分析·············································································52.1控制系统要求分析····················································································52.2平衡控制原理分析····················································································52.3自平衡小车数学模型·················································································62.3.1两轮自平衡小车受力分析·····································································62.3.2自平衡小车运动微分方程·····································································92.4PID控制器设计·····················································································102.4.1PID控制器原理················································································102.4.2PID控制器设计················································································112.5姿态检测系统························································································122.5.1陀螺仪····························································································122.5.2加速度计·························································································132.5.3基于卡尔曼滤波的数据融合································································142.6本章小结······························································································163.系统硬件电路设计······································································173.1MC9SXS128单片机介绍··········································································173.2单片机最小系统设计···············································································193.3电源管理模块设计·················································································213.4倾角传感器信号调理电路·········································································22IV3.4.1加速度计电路设计············································································223.4.2陀螺仪放大电路设计·········································································223.5电机驱动电路设计··················································································233.5.1驱动芯片介绍···················································································243.5.2驱动电路设计··················································································243.6速度检测模块设计··················································································253.6.1编码器介绍······················································································253.6.2编码器电路设计···············································································263.7辅助调试电路························································································273.8本章小结······························································································274.系统软件设计·····································