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系统的主控芯片为飞思卡尔的16位单片机9S12XS系列ATMEGA16A,它负责协调各部份的工作和综合处理各种数据信息;电池为充电电池,它为系统提供动力;传感器可以又多种传感器,例如红外避障传感器、超声波传感器或电磁传感器等,它负责给主控芯片提供外界的信息,为其决策提供信息支持;MMA7260为飞思卡尔的加速度传感器,ENC-03为村田电子的陀螺仪,它们的作用是判断系统的实时倾斜角度,系统的实时倾斜角度是系统保持直立平衡的的重要判断依据,因而对其要求比较苛刻,所以我们采用加速度传感器与陀螺仪相结合的方式来获取,目的是结合2种传感器的优点,使获取的数据更加准确;2种传感器获取的信息经过卡尔曼滤波之后即为系统的实时倾角。获取系统的实时倾角之后,主控芯片可以根据实时角度信息来驱动直流电机的运转,编码器可以给系统提供实时的速度信息,可以构成对电机运转的闭环控制,电机运转采用PID算法进行控制。
The main control chip for the system is Freescale’s 16-bit microcontroller 9S12XS series ATMEGA16A, which is responsible for coordinating the various parts of the work and comprehensive treatment of various data; battery for rechargeable batteries, which provide power for the system; sensors can have a variety of sensors , Such as infrared obstacle avoidance sensors, ultrasonic sensors or electromagnetic sensors, which is responsible for providing information to the master chip to provide information for its decision-making; MMA7260 for Freescale’s accelerometer, ENC-03 for Murata’s gyro , Their role is to determine the system’s real-time tilt angle, the system’s real-time tilt angle is the system to maintain the vertical balance of the important basis for judging, so its more demanding, so we use the acceleration sensor and gyroscope combination of ways to obtain, The purpose is to combine the advantages of the two kinds of sensors so as to obtain more accurate data. The information acquired by the two kinds of sensors is the real-time dip of the system after being filtered by the Kalman filter. After obtaining the real-time dip angle of the system, the master chip can drive the DC motor according to the real-time angle information. The encoder can provide the real-time speed information to the system and form a closed-loop control of the motor operation. The PID algorithm is used to control the motor operation.