桌面型轮式自平衡机器人硬件实现及平衡控算法设计.docVIP

北京工业大学毕业设计（论文） PAGE PAGE II 摘 要 两轮自平衡机器人运动灵活、结构简单，其适应地形变化能力强，运动灵活，且具有转弯半径为零等特点。因此具有广泛的前景，可以胜任一些复杂环境里的工作。而桌面型两轮机器人则在此基础上，具有体积小，重量轻等优势，更有利于在实验室环境下开发及进行相关实验研究。 本课题旨在研发一款桌面型轮式机器人，进行其硬件系统及相关结构设计，并编程实现基于PD算法的平衡控制。其中重点研究以下几个方面内容： （1）完善机器人硬件电路架构：根据现有条件、以及通过对比国内外机器人研究成果、结合实验室环境、并考虑机器人桌面特性等因素，对机器人整体的硬件架构进行设计与改进，并绘制功能图，完成搭建。 （2）调试主控制器XS128微处理器：通过学习与实验，对开发板进行熟悉。并对硬件中的I/O口、定时/计数器、A/D转换三部分进行详细调试。 （3）调试倾角检测芯片SCA60C：绘制SCA60C特性曲线，并结合主控制器进行倾斜角度的检测以及数据读入和存储的调试。 （4）调试电机驱动电路:设计并调试基于电机驱动芯片L298N的电机驱动电路，并完成主控制器对于电机的PWM波控制的调试。 （5）机器人的平衡控制算法与系统联调。 实验结果显示，桌面型两轮自平衡机器人成型，可基本进行平衡控制。 【关键词】轮式自平衡机器人、XS128微处理器、SCA60C传感器 Abstract Two-wheel self-balance robot has the characteristic that nimble movement and the simple structure, the adaptation to the ground change ability, the movement is flexible. It also has the characteristic which radius of turn is zero. Therefore it can be able to work in some complex environment, and it has a widespread prospect. But in this foundation the tabletop two-wheel robot, has the excellence of small volume, light weight and so on, it’s more advantageous in develops and conducts the correlation experimental study under the laboratory environment. This topic is for the purpose of researching and developing a section tabletop wheeled robot, carries on its systematic hardware and the related structural design, completes the PD balance control by C program. In which the key studies following several aspects: (1) consummation the robot’s hardware electric circuit construction: According to the existing condition, as well as by the domestic contrasts and results of foreign robots’research, unifies the laboratory condition, and the factors of characteristic about tabletop robot be considered, carry on the design and the improvement of the robot’s whole hardware construction, and draws up the functional diagram, completes the robot. (2) debug the master control regulator XS128 microprocessor: By the study and the experiment, carries on the knowledge of the microprocess