基于TSL模块的平衡车直立控制系统设计

摘要

This paper studies the design and development about the control system of upright balance car based on TSL module for sensor signal acquisition and processing module design, module design of motor drive, control of balance car, control algorithm development and implementation and debugging, the system hardware platform and software design, using linear CCD as TSL1401 car tracking module to identify the correct path, collecting signal and converts the signal into digital signal processor can be identified, and control the system’s balance by the gyroscope acceleration sensor, debugged and the system test results show that the system has good control accuracy.%文章研究了基于TSL模块的平衡车直立控制系统的设计，分别进行了TSL1401线性CCD传感器信号采集处理模块设计、电机驱动模块设计、直立车平衡系统控制、控制算法的编制及执行和调试，通过系统硬件机械平台搭建和软件设计，采用TSL1401线性CCD作为小车的循迹模块来识别路径，采集信号并将信号转换为能被单片机识别的数字信号，通过陀螺仪加速度传感器来控制系统的平衡行驶，完成了基本功能和系统调试，测试结果表明系统具有良好的避障成功率和控制精度。