多传感器滤波算法下的两轮自平衡机器人控制

摘要

This paper aims to achieve research that two-wheeled self-balanced robots are more stable attitude control,and chooses STM32 as a development platform.Aiming at the problems of noise jamming and measurement error in the course of two-wheel balance car gesture measuring,it designs fuses data from multiple sensors' method based on Kalman filter.It better integrates the multiple-set of gyroscopes and accelerometer data while reducing the amount of reserve capacity and getting more accurate and more stable angle value.The controlling results show that gesture measuring project of fuses data from multiple sensors under the Kalman filter method can better help the system to repress the noise,so that the attitude adjustment of the self-balanced robotsare more stable and more beneficial to control robotic system.%文中旨在实现两轮自平衡机器人更加稳定的姿态控制的研究,选择STM32作为开发平台,针对在对两轮平衡车姿态检测过程中存在一定的噪声干扰和测量误差的问题,设计了一种基于卡尔曼滤波的由多个传感器数据融合的方法.在更好地融合了多组陀螺仪与加速度计的数据,同时减少了存储量,得到更准确更稳定的角度值.控制结果表明,卡尔曼滤波方法下的多组传感器数据融合的姿态检测方案,能够更好地有助于系统抑制噪声,使得自平衡机器人的姿态调节更加稳定,更有利于机器人系统的控制.