基于KEA128的电磁感应平衡车软件系统设计

Design of electromagnetic induction balancing vehiclesoftware system based on KEA128AbstractIn the past decade,a special auto has been paid more and more attention and applied inmany fields,two-wheeled self-balancing vehicle.The two-wheeled self-balancing vehicle ispowered by electric energy,with light and compact mechanical structure and high energyconsumption efficiency.It can decrease environmental pollution and take the place of thetraditional gasoline automations.Meanwhile,compared with ordinary automations,thetwo-wheeled self-balancing vehicle has no brake system and special steering mechanism.Thetwo-wheeled self-balancing vehicle only needs to change the center of gravity of the systemand the difference of the speed between the two wheels to achieve the brake and steeringfunctions.The two-wheeled balancing vehicle system is typical of nonlinearity and strong couplinginstability.Many researchers use this model to develop the control strategy.Through theresearch the research of many scholars in recent years,there have been various excellentcontrol algorithms in related fields.this paper designs a two-wheeled balancing vehiclesystem based on a chip called KEA128,the required peripherals include accelerometers,gyroscopes,electromagnetic coils and encoders.Accelerometers and gyroscopes are used tofigure out the mechanical angle of the vehicle,the electromagnetic coils detect the roadinformation,and the encoders are used to obtain the vehicle speed in order to complete theclosed-loop control of the trolley motor.The filter scheme of Tsinghua University is used inthe vertical balance control to integrate the real-time angle of the vertical,and PID controlalgorithm is used in the vertical,speed regulation and line patrol control of the car in order toimprove the dynamic performance of the system.Keywords:KEA128;two-wheeled of balance;software design;Magnetic field detection;Accelerometer;gyroscope;