双轮自平衡小车系统设计与制作-硬件部分分析.docx

摘 要近几年来，随着汽车技术的快速发展，很多新兴技术涌现出来，其中就包括双轮自平衡小车技术。这项技术在很多方面都得到了体现，在交通方面施展了尤为强大的作用，其应用也逐渐深入到日常生活中，现在生活中常见的双轮自平衡电动车便是最常见的代表。本文侧重介绍以MC9S12XS128芯片为主控制器的双轮自平衡小车的设计方案。智能车采用村田公司的陀螺仪ENC-03和飞思卡尔公司的加速度计7260来协调控制，达到精确检测角度的目的，检测出小车的倾角，反馈到单片机来控制小车直立的过程。同时本智能车控制系统用PWM控制技术来驱动电机运行，控制小车直立，还采用PID控制算法使小车达到最佳的运行状态。进行正确的软件编译，下载程序完成调试后，控制系统全部完成后，真正理想的效果是，各个模块相互协调并稳定工作，能通过系统控制自动达到直立的效果，如果有适当干扰量引入，小车还可以自主恢复直立状态。同时控制系统还能够控制小车实现前进，后退等根本行动。关键词：双轮自平衡小车；MC9S12XS128芯片；PID控制算法；PWM控制AbstractIn recent years, with the rapid development of automotive technology, many new technologies emerged, including the two wheeled self-balancing robot technology. This technology in many aspects have been reflected, in terms of transportation cast is particularly powerful role, its application has gradually penetrated into daily life, now common two wheeled self- balancing electric vehicle is the representative of the most common. This paper focuses on the design scheme of two wheeled self-balanced vehicle with MC9S12XS128 chip as the main controller.Smart car uses Murata gyro ENC-03 and Freescaleacceleration meter 7260 coordinated control, to achieve the goal of high precision angle and angle detecting car, feedback to the MCU to control the car upright. At the same time, the intelligent vehicle control system uses PWM control technology to drive the motor running, control the car upright, and the PID control algorithm to achieve the best running state of the car. To correct software compiler, Download finished debugging, control system completed, is really the ideal effect, coordination and stable work of each module, through the control system automatically to erect the effect, if the introduction of appropriate amount of interference, the car can also to independent recovery of upright. At the same time control system can control the car to achieve forward, back and other basic movements.Key words:Two wheeled self-balancing vehicle;MC9S12XS128 chip;PID control algorithm; PWM control目 录1绪论11.1课题的选题背景与意义11.2双轮自平衡车国内