design and implementation of two-wheeled self-balancing vehicle.doc

摘要 近年来，两轮自平衡机器人的研究取得了快速的发展，两轮自平衡小车是一种多变量、非线性、强耦合的系统，是检验各种控制方法的典型装置。同时由于它具有体积小、运动灵活、零转弯半径等特点，将会在军用和民用领域有着广泛的应用前景。 . Design and implementation of two-wheeled self-balancing vehicle Abstract In recently years, the research of two-wheeled self-balancing robot has made a rapid development, the dynamics system of two-wheeled self-balancing vehicle is a multivariable, nonlinear, strong coupling system, and also ，it’s a typical devices to test a variety of control methods. Because of it has a small, flexible movement and zero turning radius. It will have a wide range of applications in military and civilian fields. In the article, it describes the Freescale MC9S12XS128 microcontroller-based control of two-wheeled self-balancing vehicle system to verify the classic PID control system in the dynamic balance . On this system, It used MPU6050 as the car state sensing system, and it used the Kalman filter to fuse the obtained angle data, and analyzed the effect of different filtering methods based on this. With incremental PID control PWM output and use TB6612FNG steering and speed control motors, enabling the cars self-balance control finally. Keywords: two-wheeled self-balancing system; the Kalman filter;HCS12;MPU6050 目录 摘要 2 第1章 绪论 6 1.1 两轮自平衡机器人概述 6 1.2 两轮自平衡机器人的发展 6 1.3 方案论证及选择 7 1.4 关键技术及目标 8 1.4.1 姿态数据处理 8 1.4.2 控制算法的实现 9 1.4.3 目标 9 第2章 两轮自平衡小车的原理 10 2.1 小车的直立控制 10 2.2 倾角与角速度的测量 13 2.3 本章小结 14 第3章 电路设计 15 3.1 整体电路框图 15 3.2 电源电路 16 3.3 单片机最小系统 17 3.3.1 S12单片机简介 17 3.3.2 MC9S12XS128最小系统电路 17 3.4 MPU6050 18 3.4.1 MPU6050简介 18 3.4.2 I2C通信 19 3.5 电机驱动电路 19 3.5.1 驱动芯片介绍 19 3.5.2 驱动电路设计 20 3.6 速度传感器电路 21 3.6.1 光电编码器介绍 21 3.7 无线遥控电路 21 3.7.1 Pt2262简介 21 3.7.2 Pt2262应用 22 3.8 液晶显示电路 23 3.8.1 LCD1602简介 23 3.8.2 LCD1602电路 23 3.9 车模控制电路全图 24 3.10 本章小结 26 第4章 系统软件设计 27 4.1 控制算法介绍 27 4.2 S12单片机初始化 28 4.2.1 锁相环初始化 28 4.2.2 PWM模块初始化 28 4.2.3 串行通信初始化 28 4.2.4 外部中断初始化 29 4.3 PID控制的实现 29 4.4 姿态数据处理 29 4.4.1 角度计算函数 29 4.4.2 滤波方法分析与选择 29 4.5 小车