傅忠云1,陈秋阳1,刘文波2.基于直接转矩控制的两轮自平衡车系统设计[J].压电与声光,2014,36(6):967-971.FU Zhongyun1,CHEN Qiuyang1,LIU Wenbo2.The Design of Two wheel Self balanced Vehicle System Based on Direct Torque Control[J].PIEZOELECTRICS AND ACOUSTOOPTICS
基于直接转矩控制的两轮自平衡车系统设计
The Design of Two wheel Self balanced Vehicle System Based on Direct Torque Control
  
DOI:10.11977/j.issn.1004-2474.2014.06.028
中文关键词:  自平衡车  STM32  直接转矩控制  串级PID控制  显性互补滤波算法(ECF)
英文关键词:self balanced vehicle  STM32  direct torque control  cascade PID control  ECF
基金项目:2013年南京航空航天大学金城学院校企合作课题基金资助项目(2013HX01)
作者单位
傅忠云1 (1.南京航空航天大学 金城学院江苏 南京 211156 
陈秋阳1 2.南京航空航天大学 自动化学院江苏 南京 210016) 
刘文波2  
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中文摘要:
      两轮载人自平衡车控制系统是一种典型的类倒立摆动态平衡控制系统,为降低成本,提高系统操控性能,该文利用新型ARM 微处理器STM32F373为控制核心,结合惯性传感器MPU6050,进行了平衡车控制方案设计。该文提出了电机的直接转矩控制法,并利用改进后的显性互补滤波算法得到车体倾斜角度的实时最优值,形成了以角度环、角速度环及电流环所构成的三闭环串级比例 积分 微分(PID)控制方式,实现了车辆的自平衡行驶。与传统使用电压开环控制及速度反馈控制的平衡车相比,该文设计的平衡车具有性价比高、响应速度快、控制平稳等优点。
英文摘要:
      Two wheel self balanced vehicle control system is a typical kind of inverted pendulum control system. In this paper, in order to cut the cost, and improve the system control performance, a controller was designed by using the new ARM microprocessor STM32F373 as the control core and combining with inertial sensors MPU6050. Motor direct torque control method was presented. The optimal estimate of the tilt angle was obtained from the improved explicit complementary filter. To realize the self balance of the body, the cascade PID control loop is proposed through the angle and angular velocity control loop for obtaining of the DC motor torque. The control of motor torque is regulated by current loop, and the turning control is achieved through the body gravity control at the same time. Compared with the conventional voltage open loop control and the speed feedback control systems, the proposed system has the advantages of lower cost, fast response, running smoothly.
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