摘要
本文提出了一种基于手势控制的两轮平衡小车的控制系统设计和实现方案。首先研究了平衡小车的平衡学原理和机械结构,得到平衡小车系统传递函数,然后通过电机转动反馈回的速度,利用PID来控制平衡小车的倾倒角速度。根据设计思路及其原理设计了具有手势识别功能的平衡小车,在此基础上研究了姿态检测、手势识别,并进行了系统测试和优化。
The design and implementation scheme of the control system of a two-wheel balance trolley based on gesture control is proposed. Firstly, the balance principle and mechanical structure of the balance trolley are studied, and the transfer function of the balance trolley system is obtained, and then the tilting angular velocity of the trolley is indirectly balanced by the speed of the motor feedback back combined with PID control. According to the design ideas and principles, the balance trolley with a gesture recognition function was designed, and on this basis, attitude detection and gesture recognition were studied, and the system was tested and optimized.
出处
《人工智能与机器人研究》
2023年第3期189-198,共10页
Artificial Intelligence and Robotics Research
