摘要
设计一基于倒立摆的便捷自动控制教学平台,内置三维陀螺仪、加速度计等传感器,可实现平台的自主直立控制。平台利用STM32单片机对陀螺仪的角速度和加速度计的加速度进行实时跟踪,采用卡尔曼滤波算法对陀螺仪与加速度计采集回来的姿态信号进行校正,从而得到一个准确的空间姿态;通过采集编码器产生的脉冲来计数,形成速度闭环控制,实现双轮自平衡教学平台在任何干扰情况下,均能保持直立平衡状态。该教学平台的特点在于体积小巧,携带方便,操作简单,运行可靠,调整速度快。该平台是一个可随堂演示的PID控制系统,采用现场实物演示将大大增添课堂趣味性,学生们学习相关理论知识时将会更加积极主动,从而提高理论教学的质量。
To design a teaching platform of the convenient automatic control based on the inverted pendulum, built-in 3 d gyroscope and accelerometer sensors, can realize autonomous vertical control. Platform uses STM32 MCU to track the accelerometer gyroscope of angular velocity and acceleration. Using Calman filtering algorithm for correcting the posture signal, the signal is collected by the gyroscope and accelerometer, to get an accurate space posture. By collecting generated pulse encoder counts, forming a closed loop speed control. Realization of two-wheeled self-balancing teaching platform in any interference, can maintain upright balance. Features of the teaching platform is compact, easy to carry, easy to operate, reliable, fast adjustment. The platform is a quiz presentation PID control system. Using live demonstrations will greatly increase the physical classroom fun. Students will learn the theory of knowledge when more proactive, thereby improving the quality of teaching theory.
出处
《大众科技》
2015年第1期15-17,共3页
Popular Science & Technology
基金
廊坊市科学技术研究与发展计划自筹经费项目"基于倒立摆的便捷自动控制教学平台的研究与设计"(2014011033)
作者简介
赵燕（1982-），女，燕京理工学院讲师，从事理论及实验教学和科研工作。
