CAJ | 학술논문

通过物理建模得到了单轴双轮自平衡系统的运动学特性，并结合传感器技术和自动控制理论提出了新的单轴双轮自平衡小车的设计方案。采用陀螺仪和加速度传感器分别对车体倾角进行检测，利用对称互补滤波算法对检测到的数据进行融合得到精确的车体倾角，再引入PID技术对车体姿态进行精确控制。设计的单轴双轮自平衡小车车体的倾角的获取不依赖于小车所处的环境，可在实验过程中调整参量，具有普遍的适用性。
통과물리건모득도료단축쌍륜자평형계통적운동학특성，병결합전감기기술화자동공제이론제출료신적단축쌍륜자평형소차적설계방안。채용타라의화가속도전감기분별대차체경각진행검측，이용대칭호보려파산법대검측도적수거진행융합득도정학적차체경각，재인입PID기술대차체자태진행정학공제。설계적단축쌍륜자평형소차차체적경각적획취불의뢰우소차소처적배경，가재실험과정중조정삼량，구유보편적괄용성。
The kinematic characteristics of the uniaxial two‐wheel self‐balancing system were ob‐served by physical modeling ,and a design scheme of a uniaxial two‐wheel self‐balancing vehicle was presented ,combining sensor technology and automatic control theory . Gyroscope and acceleration sensor were respectively adopted to test the tilt angle .The data were fused applying the complementa‐ry symmetry filtering algorithm .Accurate tilt angle was obtained and the posture was precisely con‐trolled by the PID technology .The tilt angle measurement was resistant to environmental interfer‐ence ,the experimental parameters were adjustable ,and both led to the general design applicability .