两轮自平衡机器人系统设计
摘要：最近几年两轮自平衡电平车在中国乃至全世界市场有着非常惊人的发展速度，自平衡电瓶车成为人类一种前所未见的崭新的都市交通工具。自平衡机器人是一种特殊的轮式移动机器人，运动灵活，可以零半径转弯，适合在狭小和危险的空间运动，所以发展前景非常可观，扩展机器人的应用背景等具有重要的理论和实现意义。
两轮自平衡机器人的自平衡和运动控制是我主要研究的方向，本文采用STM32F103TBR6作为系统的主控芯片、TB6612FNG为电机的驱动芯片、陀螺仪MPU6050模块和超声波测距模块作为系统的传感器，由以上三部分组成自平衡机器人的控制系统。对两轮自平衡机器人的自平衡控制方法和自主避障方法进行了研究，对两轮自平衡机器人的车轮和车身进行数学建模，得到系统的传递函数，在路径规划方面，主要讨论两轮自平衡机器人三种运动方式，即直线运动、原地转弯和转弯运动。通过对两轮自平衡机器人系统的研究，两轮自平衡机器人通过陀螺仪MPU6050采集数据再通过卡尔曼滤波，单片机STM32F103就收到陀螺仪信号进行处理，通过PID算法来实现两轮自平衡机器人的自身平衡、自由运动和臂章功能，还能够通过手机给自平衡机器人指令，让其做相应的运动。
关键字：两轮自平衡机器人，卡尔曼滤波，PID算法
Design of two wheeled self balancing robot system
Abstract: in recent years two self balance level cars in China and even the whole world market has a very amazing development speed, self balance car battery become human a unprecedented new urban traffic tools. Self balancing robot is a special kind of wheeled mobile robot, flexible movement can zero turning radius, suitable for narrow and dangerous space motion. So the prospects for the development of very considerable, extended the application background of robot etc. has important significance in theory and implementation.
Two wheeled self balancing robot self balance and motor control is my main research direction, the STM32F103TBR6 as the main control chip of the system, of TB6612FNG as sensor system for motor drive chip, gyroscope this module and ultrasonic ranging module, by the above three parts composed of self balancing robot control system. The two self balancing robot self balancing control method and autonomous obstacle avoidance method is studied, the two wheeled self balancing robot wheels and the body of mathematical modeling, transfer function of the system, in terms of path planning, mainly discuss two wheeled self balancing robot three movement way, namely motion in a straight line, swerve and turning movement. Through to the two self balancing robot system research, two self balancing robot collected data through the gyroscope this again by Kalman filter, microcontroller STM32F103 received gyroscope signal processing through the PID algorithm to achieve the two self balancing robot self balance, freedom of movement and armbands function, but also can through the mobile phone to self balancing robot instruction and let it do the corresponding movement.
Keywords: two wheeled self balancing robot, Calman filter, PID algorithm
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