【摘要】 随着计算机技术的不断发展,与开源软件一样,开源硬件正成为一股不可忽视的颠覆性力量影响着科学探索和企业生产。基于开源硬件的产品越来越深入到社会实践中。基于Arduino的开源硬件技术,论文提出了一个两轮直立自平衡机器人的设计方案。它采用陀螺仪判断小车的原有姿势状态,使用加速度传感器计算车体的倾斜角度,采用Arduino处理数据和控制小车,用PID控制结合互补滤波融合加速度计和陀螺仪采样信息,用PWM调节电机运动,最终达到车体的平衡。实验结果表明:小车可以自行保持直立,并且具有较好的回复平衡能力。该车可以作为进一步验证各种控制算法的理想平台,具有一定的应用前景。更多还原

【Abstract】 With the development of computer technology, as open-source software, open-source hardware is becoming a force to be reckoned disruptive impact on scientific and productions. Products based on open-source hardware is more and more popular deeply in the social. This paper puts forward a two wheeled upright Arduino design scheme based on self-balancing robot car by using gyro judgment original posture state, the tilt angle calculated body acceleration sensor, using Arduino for data processing and control the car, using the PID control with the complementary filtering fusion accelerometer and gyroscope sample information, PWM adjusting motor, finally achieve the body balance. The experimental results show that: the car can be kept upright, and has better ability to restore balance. The car is to verify the ideal platform for all kinds of control algorithm, and has a certain application prospect.更多还原