Design of two-wheeled self-balancing control system based on gyroscope and accelerometer

MENG Teng; ZHANG Zheng

doi:10.13873/J.1000-9787(2014)10-0061-04

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Design of two-wheeled self-balancing control system based on gyroscope and accelerometer

更新时间：2025-09-11

- Design of two-wheeled self-balancing control system based on gyroscope and accelerometer
- Vol. 33, Issue 10, Pages: 61-64(2014)
- 作者机构：
  
  武汉科技大学信息科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2014)10-0061-04
  CLC： TP273
- Published：2014
- 稿件说明：
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[1]孟腾,章政.基于陀螺仪与加速度计的二轮自平衡控制系统设计[J].传感器与微系统,2014,33(10):61-64.

MENG Teng, ZHANG Zheng. Design of two-wheeled self-balancing control system based on gyroscope and accelerometer[J]. 2014, 33(10): 61-64.
[1]孟腾,章政.基于陀螺仪与加速度计的二轮自平衡控制系统设计[J].传感器与微系统,2014,33(10):61-64. DOI： 10.13873/J.1000-9787(2014)10-0061-04.

MENG Teng, ZHANG Zheng. Design of two-wheeled self-balancing control system based on gyroscope and accelerometer[J]. 2014, 33(10): 61-64. DOI： 10.13873/J.1000-9787(2014)10-0061-04.

摘要

为了实现二轮自平衡系统的稳定控制

提高系统姿态倾角的可靠性

提出了基于陀螺仪与加速度计的二轮自平衡系统控制方法。建立二轮自平衡系统的简易动力学模型

以Lyapunov方法对稳定性进行分析

得到系统稳定控制的条件

采用陀螺仪和加速度计采集姿态倾角数据

经融合滤波后得出高精度姿态倾角

最后控制二轮自平衡系统电机实现稳定运行。通过二轮自平衡控制系统的硬软件设计

成功验证了该方法的可行性。

Abstract

In order to realize stable control of two-wheeled self-balancing system and improve reliability of system attitude inclination angle

a method of two-wheeled self-balancing system control based on gyroscope and accelerometer is presented.Establish brief dynamics model for two-wheeled self-balancing control system

Lyiapunov method is used to analyze stability in order to get stability control condition of system

datas of attitude inclination angle with high precision is acquired by gyroscope and accelerometer after fusion filtering

at last

control motor of two-wheeled self-balancing system to achieve stable operation.Through hardware and software design

it verifies the feasibility of this method successfully.

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Keywords

references

陀螺稳定系统参数测试仪设计 [J]. 李俊博,朱涛,邹艳忠. 计算机测量与控制 . 2011(02)

基于MEMS加速度传感器的数字水平仪 [J]. 于玮,封维忠,武建军. 仪表技术与传感器 . 2011(01)

两轮自平衡机器人动力学建模及其平衡控制 [J]. 阮晓钢,任红格. 计算机应用研究 . 2009(01)

两轮自平衡小车系统 [D]. 李凡红. 北京交通大学 2010

基于HCS12的嵌入式系统设计[M]. 电子工业出版社 , 吴晔, 2009

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