摘要本文以全国大学生智能汽车竞赛为背景，对光电导引两轮自平衡智能车的系统建模、卡尔曼滤波算法和控制算法做了较为详细的研究。本文对光电导引两轮自平衡智能车系统进行建模，并将卡尔曼滤波算法引入到智能车的车模姿态测量中。为提高车模电机的响应速度与控制精度，本文设计了电机内环控制算法。结合建立的系统数学模型与卡尔曼滤波器模型，对智能车系统的卡尔曼滤波算法、电机内环控制和系统总控制进行了matlab仿真分析。最后，将相关算法应用于实际测试，检验算法的有效性。实际调试结果表明，系统性能优良，光电导引两轮自平衡智能车的运行特性得到显著提升，验证了建立的系统数学模型及卡尔曼滤波器模型的正确性。 65238

毕业论文关键词  智能车 建模 卡尔曼滤波  matlab 

毕业设计说明书（论文）外文摘要

Title  Design and Implementation of Smart Car for the 8th Freescale Cup——Research and Design of Control  

 AlgorithmBased on 32-bit MCU for Car Guided by  Photoelectric 

Abstract According to the 8th "freescale" cup national undergraduate smart car competition, modeling, the kalman filtering algorithm and control algorithm is studied for the self-balancing intelligence vehicle system of two rounds guided by photoelectric in detail. Meanwhile, the model for the intelligence vehicle system is built, and the kalman filtering is adapted to the measurement of vehicle gesture. To improve the response speed and control precision of the motor, the inner control is designed. Combining mathematical model of system and the kalman filter model, kalman filtering algorithm, inner control and the whole system control are simulated in matlab. Finally, the algorithm is applied into the actual test to test its effectiveness. Actual debugging results show that the system performance is good, the running characteristics of the self-balancing intelligence vehicle of two rounds guided by photoelectric system receive a significant boost, and the correctness of the established mathematical model system and the kalman filter model are verified.

Keywords  intelligence vehicle  modeling   kalman filter  matlab

目   次

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 1

1．3  全国大学生智能车竞赛简介 3

1．4  本文主要工作 4

2  光电导引两轮自平衡智能车系统总体设计 6

2．1  系统需求分析 6

2．2  智能车系统组成结构 6

2．3  智能车系统工作原理 7

2．4  智能车系统工作流程 9

2．5  本章小结 10

3  光电导引两轮自平衡智能车系统建模 11

3．1  后轮驱动系统建模 11

3．2  系统整体数学模型建立 16

3．3  系统自身稳定性和能控性的matlab分析 22

3．4  本章小结 24

4  光电导引两轮自平衡智能车控制算法设计 25

4．1  直立控制