基于线阵CCD的线检平衡车

Ying-juan Zhao, Jing-nan Ma, Haimei Du
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引用次数: 0

摘要

两轮巡回平衡车是一个复杂的系统模型,它包含了多种不确定参数的变量。它具有非线性和强耦合的特点。利用平衡车可以检测各种控制方法的优缺点。具有广阔的应用前景。本文建立了一个倒立摆模型来模拟汽车的平衡状态。采用卡尔曼滤波方法对小车的倾斜角进行优化。通过PID调节控制参数,实现平衡运行。采用了一种基于TSL1401线阵CCD的图像采集方案。STM32处理器处理心跳来控制左右电机的速度,用于自动线路巡逻。经测试,CCD线路性能优于红外线,具有前视、低抖动、相对较快等优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Line inspection balance car based on linear CCD
Two-wheeled tour balance car is a complex system model which contains a variety of variables with no definite parameters. It is characterized by nonlinearity and strong coupling. The balance car can be used to detect the advantages and disadvantages of control methods. It has broad application prospects. In this paper, an inverted pendulum model is constructed to simulate the balance conditions of the car. Kalman filtering method is used to optimize the inclined angle of the car. The control parameters are adjusted by PID to achieve the balanced operation . A new image acquisition scheme based on TSL1401 linear CCD is adopted. The STM32 processor processes heartbeats to control the speed of the left and right motors for autonomous line patrol. After testing, CCD line performance is better than infrared, with forward-looking, low jitter, relatively fast and other advantages.
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