【摘要】 以全国大学生智能汽车竞赛中电磁两轮直立自平衡车为对象,建立了小车的数学模型,设计制作了直立平衡车车模,并对姿态传感器加速度计和陀螺仪的信息进行卡尔曼滤波和互补滤波融合研究,调试结果表明,经融合后的输出角度波形曲线平滑、响应快速、跟踪稳定、减小了测量误差,有效提高了姿态控制的稳定性。更多还原

【Abstract】 Based on the two-wheel-upright-electromagnetic self-balanced smart car in the national college students’ smart car competition as the research object, established the mathematical model of the car, design the upright balanced car models, and based on the Kalmar filtering and complementary filtering researched the attitude of the accelerometer and gyroscope sensor information fusion. The experimental results show that, the output angle waveform curve is smooth, the response is fast, the tracking is stable and the measurement error is reduced, the attitude control stability of the self-balanced car is effectively improved.更多还原