【作者】 王瑜；

【导师】 高延滨；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2009， 硕士

【摘要】 随着永磁新材料、微电子技术、自动控制技术以及电力电子技术特别是大功率开关器件的发展,直流无刷电动机得到了长足的发展。直流无刷电动机的发展又推动了轮式机器人的发展。两轮自平衡机器人属于轮式机器人的范畴,它结合了自主移动的思想,具有体积小、结构简单、运动灵活等优点,适于在狭小和危险的空间内工作,有着广泛的应用前景。本文首先研究了两轮自平衡机器人的机械本体,在对几种常用电机进行比较后,选择了无刷直流电机作为机器人的驱动元件,而后详细的阐述了直流无刷电机的结构、工作原理、数学模型和控制方法,介绍了GPS和MEMS系统。其次,根据选用的电机,采用TMS320LF2407 DSP作为本系统的主控芯片,选择了合适的加速度计、陀螺仪和GPS模块作为系统的传感器。设计了以TMS320LF2407为核心的主控电路、以IR21362为核心的电机驱动电路、系统电源电路和通讯电路,在TI的CCS3.1环境下编写了系统软件,而后进行了硬件调试和软件调试。最后,对两轮自平衡机器人的自平衡控制方法和自主导航方法进行了研究。在对两轮自平衡机器人的车轮和车身进行数学建模的基础上,得到了系统的传递函数,采用LQR控制器对机器人进行自平衡控制,并用simulink进行仿真,获得了期望的平衡效果;在路径规划方面,主要讨论了两轮自平衡机器人的三种运动方式,即直线运动、原地转动和转弯运动;建立了适合本系统的联合Kalman滤波器模型,提出了联合Kalman滤波器的信息分配系数的确定算法,并用MATLAB进行相关仿真实验,保证了自主导航系统具有较高的精度和良好的动态性能。更多还原

【Abstract】 Brushless DC Motor had made a rapid development with the development of new Permanent Magnetic materials, Microelectronics, Automatic Control technology and electronics, especially the development of High Power Switching Device. The development of the wheeled robot was promoted by the development of the BLDC. The two-wheeled self-balancing robot belongs to the category of the wheeled robots and combines with the idea of autonomous moving. The robot is small in mechanism and can make flexible motion. So it is fit for tasks in narrow and dangerous space and has a wide foreground.First, the mechanical body of the two-wheeled self-balancing robot was researched. The BLDC was chosen as the drive components of the robot after the comparison of several commonly used motor. The structure, the working principle and the control method of the BLDC was introduced in the article.Second, based on the BLDC we chose, take TMS320LF2407 as the comtrol chip of the system, choose the suitable accelerometers, gyroscopes and GPS module, the control circuit whose core is TMS320LF2407, the BLDC driver circuit whose core is IR21362, the system power circuit and the communication circuits were designed and debugged.Finally, the self-balancing control method and the self-navigation method were researched. Base on the mathematical model of the two-wheeled self-balancing robot, the LQR controller was used to deal with the self-balancing. The expected balancing result was got after the simulation made by simulink; based on the GPS/MEMS system, the model of the joint kalman filter was build. The algorithm of the information coefficient based on joint kalman filter was brought up. Relative simulation experiments were made by MATLAB. And high precision and dynamic performance of the self-navigation system was ensured.更多还原