两轮小车姿态检测与平衡控制研究

摘要

This article used self-balance two wheel vehicle , completed attitude detection based on accelerometer and gyro , applied the complementary filtering algorithm for data fusion process , combined with PID controller , achieved self-balance and move control .Drew the sensors and fused data waveform , through the actual operation , indicated that the method can achieve precise control for self-balance two wheel vehicle .%在两轮自平衡小车基础上，完成了基于加速度计和陀螺仪的姿态检测，运用互补滤波算法对数据进行了融合处理，结合PID控制器，实现了小车的自平衡及运动控制。绘制了各传感器及融合后的数据波形，通过实际的运行，表明了该方案可以实现两轮自平衡小车的精确控制。