CAJ | 학술논문

介绍一种两轮自平衡智能小车控制系统的实现方案。该系统以MC9S12XS128单片机作为主控芯片，采用一组激光传感器进行路径检测，使用ENC-03MA陀螺仪与MMA7361加速度计进行小车直立自平衡检测，利用BTS7960芯片进行电机驱动，使用增量式编码器进行速度检测，借助滑动电阻器和液晶屏对参数进行调整与观测。在软件方面，结合PWM技术和PID控制技术对小车的两个直流电机的转速进行控制，可以实现两轮小车的动态自平衡快速寻迹运行。实践表明该设计达到了理想效果。
개소일충량륜자평형지능소차공제계통적실현방안。해계통이MC9S12XS128단편궤작위주공심편，채용일조격광전감기진행로경검측，사용ENC-03MA타라의여MMA7361가속도계진행소차직립자평형검측，이용BTS7960심편진행전궤구동，사용증량식편마기진행속도검측，차조활동전조기화액정병대삼수진행조정여관측。재연건방면，결합PWM기술화PID공제기술대소차적량개직류전궤적전속진행공제，가이실현량륜소차적동태자평형쾌속심적운행。실천표명해설계체도료이상효과。
An implementation scheme of control system for two-wheel self-balanced intelligent vehicle is introduced in this paper. In the system,MC9S12XS128 is used as a master microcontroller,some laser sensors are used to detect the path,ENC-03MA gyroscope and MMA7361 accelerometer are used for upright self-balanced detection of the vehicle,the chip BTS7960 is employed to drive the motor,the incremental encoder are used for the speed detection,and sliding resistors and LCD screen are utilized to adjust and observe the parameters. The speed of the two DC motors in the vehicle is controlled with PWM technology and PID control technology,so as to achieve the dynamic self-balance and fast tracking of the vehicle.