毕业设计说明书酱油桶
学生姓名： 自动化机械手臂 学号：钢制重力式无阀过滤器
学 院： 仪器与电子学院
专 业： 微电子学
指导教师：
2016年6月
PID控制算法的自平衡机器人
摘 要
随着机器人研究的进一步深入，在工业生产、安防系统、智能家居、物流网等领域的应用更加广泛，在实际应用中，可能遇到复杂的任务环境。相比多轮的轮式机器人，两轮自平衡
机器人体积小，运动灵活，能够在比较狭窄、需要大转角的场合中运动。这种机器人两轮共轴，可以通过运动保持自身平衡，能实现前进、后退、转向、原地静止等基本运动功能，由于其结构特殊，能适应不同的地形环境，研究两轮自平衡机器人，具有重要的意义。 本设计以两轮车模为研究平台，以恩智浦公司32位微处理器MK60FX512VLQ15为控制核心。通过加速度传感器和陀螺仪，设计滤波算法，实现了倾角的测量；通过设计MOS电机驱动电路，使用单片机输出PWM，实现了电机速度控制；通过编写控制算法，实现了两轮车模的自平衡功能；通过编码器测量电机转速，对速度进行闭环控制，实现了两轮自平衡机器人的速度控制功能。吹管系数>bim施工模拟
最终，小车能够原地直立无漂移达十分钟以上，可实现原地零半径回转，并且能够控制移动速度，直线运动速度可达到2m/s。通过无线遥控器，使小车能够在自平衡的基础上，实现自由运动的任务。
led发光棒关键词： 单片机，PID，倾角测量，自平衡，MOS驱动
Self-balancing robot based on PID algorithm
Abstract
Along with the further robotics research, and robots was widely used in the industrial production, security systems, intelligent household and IOT. In a practical application, the robots may encounter complex task environment. Compared with the Wheeled-robot which has several wheels, self-balancing two-wheel robot has the advantages of flexible movement because of its small size; it’s suitable in the more narrow use of the environment. This kind of robot has two wheels of coaxial, to keep balance by way of movement. The robot can achieve the basic movement function; it can move forward and backward, turn left and right, as well as still standing. Due to its special structure, it can adapt to different terrain environment. For the reason given above, researches on the Two-Wheeled Self-Balancing Robot would be significant.
This design is based on a Two-Wheeled car, and uses the Microcontroller MK60FX512VLQ15 as the controlling kernel. The main works accomplished in the paper include:(1)Designing a filter algorithm, achieving Angle measurement based on Inertial M
easurement Unit - accelerometer and gyroscope.(2)Designing a driving circuit of MOSFET, achieving motor speed control through PWM technology.(3)Designing control algorithm, achieving self-balancing.(4)Measuring motor speed, achieving speed control under the condition of self-balancing through Closed-Loop Control.
Finally, the robot can stands upright without drift for ten minutes or more, and has a zero turning radius. In addition, the speed of the robot is controllable, speed up to 2m/s. By using a remote control, the robot can realize free movement.
Key words: Microcontroller, PID, Measurement of angle，Self-Balancing
Driving circuit of mosfet
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