计算机应用与软件Issue(2)：58-62,5.DOI:10.3969/j.issn.1000-386x.2016.02.014
两轮直立代步平衡车的设计与实现
DESIGN AND IMPLEMENTATION OF TWO-WHEEL BALANCED UPRIGHT SCOOTER
摘要
Abstract
We put forward a design scheme of the cheap two-wheel balanced upright scooter aimed at the dear balanced scooters in the market.By improving Kalman filter algorithm,we merge the output data of the acceleration sensor and the gyroscope to obtain accurate attitude,use power NMOS to design high-power motor drive circuit,and design PID controller to achieve dynamic balance and steering control of the balanced upright scooter.After testing on actual road,the scooter runs flexibly and is able to adapt to various road conditions,its maximum climbing angle is 30°,the maximum speed is 15 km/h,and the stroke is 60 km.The system costs at about 1300 RMB,and has a very high performance-price ratio.关键词
两轮平衡车/陀螺仪/加速度计/卡尔曼滤波/PID 控制Key words
Two-wheel scooter/Gyroscope/Accelerometer/Kalman filter/PID control分类
信息技术与安全科学引用本文复制引用
徐光宪,高念..两轮直立代步平衡车的设计与实现[J].计算机应用与软件,2016,(2):58-62,5.基金项目
辽宁省高等学校杰出青年学者成长计划项目 （）
