1、 本科毕业设计（论文）本科毕业设计（论文） 题目 两轮自平衡小车的设计 学 院 电气与自动化工程学院 年 级 专 业 班 级 学 号 学生姓名 指导教师 职 称 论文提交日期 I 两轮自平衡小车的设计 摘要 近年来，两轮自平衡车的研究与应用获得了迅猛发展。本文提出了一种两轮自平衡小 车的设计方案，采用陀螺仪ENC-03以及MEMS加速度传感器MMA7260构成小车姿态检测 装置，使用卡尔曼滤波完成陀螺仪数据与加速度计数据的数据融合。系统选用飞思卡尔16 位单片机MC9S12XS128为控制核心，完成了传感器信号的处理，滤波算法的实现及车身控 制，人机交互等。 整个系统制作完成后，各个模块能够正
2、常并协调工作，小车可以在无人干预条件下实 现自主平衡。同时在引入适量干扰情况下小车能够自主调整并迅速恢复稳定状态。小车还 可以实现前进，后退，左右转等基本动作。 关键词：关键词：两轮自平衡 陀螺仪 姿态检测 卡尔曼滤波 数据融合 II Design of Two-Wheel Self-Balance Vehicle Abstract In recent years, the research and application of two-wheel self-balanced vehicle have obtained rapid development. This paper present
3、s a design scheme of two-wheel self-balanced vehicle. Gyroscope ENC-03 and MEMS accelerometer MMA7260 constitute vehicle posture detection device. System adopts Kalman filter to complete the gyroscope data and accelerometer data fusion.，and adopts freescale16-bit microcontroller-MC9S12XS128 as contr
4、oller core. The center controller realizes the sensor signal processing the sensor signal processing, filtering algorithm and body control, human-machine interaction and so on. Upon completion of the entire system, each module can be normal and to coordinate work. The vehicle can keep balancing in u
5、nmanned condition. At the same time, the vehicle can be adjusted independently then quickly restore stability when there is a moderate amount of interference. In addition, the vehicle also can achieve forward, backward, left and right turn and other basic movements. Key Words: Two-Wheel Self-Balance; Gyroscope; Gesture detection; Kalman filter; Data fusion III 目 录 1.绪论 1 1.1 研究背景与意义
