摘要本文以 “飞思卡尔”杯智能车大赛为背景，对光电导引自平衡智能车系统进行了建模，对卡尔曼滤波算法以及光电导引自平衡智能车的控制算法作了较为深入地分析。采用卡尔曼滤波对智能车倾角和角速度进行平滑滤波，使用电机闭环控制使智能车电机的响应更快、更准，运用PID控制对智能车的直立、速度和方向环节进行控制。结合所建立的数学模型，基于matlab仿真对卡尔曼滤波器、电机闭环控制系统以及整车系统进行仿真。最后，将所设计的相关算法应用于实际系统进行测试以验证算法的可行性，实测结果表明：所设计的算法能使光电导引自平衡智能车系统稳定运行。65015

毕业论文关键词  智能车  卡尔曼滤波  电机闭环控制  PID控制

毕业设计说明书（论文）外文摘要

Title   Design and Implementation of Intelligent Vehicle for the Eighth Freescale Cup - Control Algorithm Design of Optical Guided Vehicle  

Abstract

Taking the 8th 'Freescale Cup' as the background, we model an optical guided self-balancing intelligent vehicle system and present an in-depth analysis of the Kalman filter algorithm as well as the control algorithm of the intelligent vehicle control algorithm. The Kalman filter algorithm is used to make the inclination angle and angular velocity more accurate and smooth. The closed-loop motor control system is brought in for the sake of rapidity and accuracy of the motor. PID control is adopted for the upright, speed and direction control of the vehicle system. On the basis of the mathematic model, the Kalman filter, the closed-loop motor control system and the overall system are simulated in Matlab. Eventually, the relevant algorithms are applied to the actual device to verify the feasibility. Actual tests demonstrate that the self-balancing intelligent vehicle system operated stably with the algorithms designed.

Keywords  intelligent vehicle, Kalman filter, closed-loop motor control, PID control

目  录

1  引言 1

1．1  课题研究背景及意义 1

1．2  国内外智能车研究现状 2

1．3  全国大学生智能车竞赛简介 3

1．4  本课题主要研究内容 3

2  光电导引两轮自平衡智能车系统总体设计 5

2．1  光电导引两轮自平衡智能车系统设计要求 5

2．2  光电导引两轮自平衡智能车系统组成结构 5

2．3  光电导引两轮自平衡智能车系统工作原理 6

2．4  本章小结 7

3  光电导引两轮自平衡智能车系统数学模型的建立 8

3．1  后轮闭环控制模块的建模 8

3．2  两轮自平衡智能车系统数学模型的建立 13

3．3  两轮自平衡智能车系统稳定性和能控性的matlab分析 19

3．4  本章小结 20

4  光电导引两轮自平衡智能车直立控制 21

4．1  智能车倾角和角速度测量 21

4．2  卡尔曼滤波算法简介 22

4．3  车模倾角和角速度的卡尔曼滤波算法设计