摘要： 随着科技行业的不断发展，众多勘探、侦查等特殊场合对于可自动平衡小车的需求越来越强，基于经典控制理论，具有极强非线性特点的平衡小车以其良好的平衡特性和自动调节特性而受到众多科研工作者的青睐。由于此种小车采用两轮设计，需极高的自平衡调节能力，因此需综合各种不同学科先进技术，尤其是先进控制技术才可实现小车的自平衡调节。本文以两轮小车的自平衡为基础上，通过理论研究小车的平衡特点，建立平衡数学模型，并对所建立的模型进行简化和线性化处理，在处理之后的系统模型上，采用 进行仿真处理，对比分析应用不同控制方法所调节小车的平衡效果，从而选择最佳控制方法，本文通过仿真分析后，选择控制法为反馈极点方式的配置法。62197

   另外，为提高信号处理能力、整个系统控制效果，从而提高两轮车的自平衡能力，本设计选用数据处理性能强大的 芯片、并采用众多性能强大的传感器和陀螺仪用以实现小车的自平衡控制。由于系统数据处理环节较多，实际传感器采集信号中所含噪声较多，影响到小车自控制能力，因此在软件编程环节重点设计了信号的滤波器和模式识别。最终不断测试调试本设计所开发的软件、硬件系统，最终达到小车良好的自平衡调节。

毕业论文关键词： 两轮自平衡小车；极点配置；TMS320F28335数字信号处理器；系统模型辨识；数字滤波器

THE DESIGN OF THE SELF-BALANCING TWO WHEELED ROBOT BASED ON DSP

Abstract: The self-balancing two wheeled robot is a new type intelligence robot that based on inverted pendulum model in the classical control theory. It has bright prospect in the resource exploration, military reconnaissance and transportation. This robot is a nonlinear, serious coupling, variable and natural unstable system. The control theory, kinematics, electronics and automate theory are combined in the system. And many scientists have researched on thyself-balancing two wheeled robot. First of all in this paper, the mathematical model of the self-balancing two wheeled robot is built by doing in-depth research on the mathematical model of the inverted pendulum. Then the line notarization of the model is done and the inconceivability and provability is also proved. After building the mathematical model, the key is to determine the control strategy. Secondly, the control chip of robot is TMS320VC5509A DSP which has the superior data processing ability. The robot also has two types of the sensor: the gyroscopes and acceleration so that the motion state of the robot can be confirmed. The software system is CCS3.3 which is convenient for designing the digital filter. Ultimately, the experimental model has been built after debugging and testing times without number. In the meantime, the system identification has been done by Mat lab so that the mathematical model can been improved and then the control results will be better.

Key Words: self-balancing two wheeled robot, pole assignment, TMS320F28335DSP, system identification, digital filter

 目   录

1 前言 5

1.1 研究意义 5

1.2国内外研究现状 6

1.2.1国外研究成果 6

1.2.2 国内研究成果 8

1.3 本文研究内容 9

1.4 自平衡车的技术关键 10

2 两轮平衡车的平衡原理 11

2.1 平衡车的机械结构 11

2.2 两轮车倾倒原因的受力分析