【摘要】 研究一种两轮同轴、差速驱动的新型的两轮移动机构的控制系统软硬件设计。为了实现对该机构行走过程的平衡控制,其控制系统采用C8051单片机作为核心控制器,用倾角传感器、陀螺仪和脉冲编码器测量车体的姿态,通过模糊自适应控制器分别控制车体左轮和右轮,实现了平衡行走。更多还原

【Abstract】 The control system software and hardware design of a new coaxial two-wheeled and difference velocity driving wheel-moving mechanism was studied.In order to realize balancing control of the mechanism when moving,in the control system,C8051 SCM is adopted as core-controller,angle of inclination sensor,gyroscope and pulse encoder are used to measure the attitudes of the bodywork,and fuzzy adaptive controller is used to control the bodywork’s left wheel and right wheel separately to realize running balancing.更多还原