文档介绍：本科毕业设计题目两轮自平衡小车研究学院电子信息工程学院专业自动化学生姓名刘长根学号 200910311332 年级 2009级指导教师罗浚溢职称博士年月日两轮自平衡小车研究专业:自动化学号: 200910311332 学生:刘长根指导教师:罗浚溢摘要: 现在两轮自平衡小车的研究在全世界得到很大的关注。本论文主要工作是对两轮自平衡小车的原理进行研究并且和提出一种设计方案。本次设计方案是采用 ENC-03MB 陀螺仪传感器和 MMA7361LC 三轴加速度倾角传感器构成小车的状态检测装置,使用算法使陀螺仪数据和加速度计数据的融合得到小车的倾角,再通过一定的算法使小车保持直立状态。系统采用飞思卡尔公司的 DSC 16 位处理器 XS128 单片机为核心控制处理器,完成传感器信号的处理,滤波算法的实现和车身控制等一些任务。在小车制作完成后,各个模块之间能够正常并且协调的工作,小车可以只无人干预的条件下实现自主平衡,运用手机蓝牙可以控制小车的前进、后退、左右转动等各个动作。关键词: 两轮自平衡小车;陀螺仪;加速度倾角传感器; XS128 单片机 Research of The Two-wheel Self-balance Car Specialty : Automation Student Number : 200910311332 Student : Liu Changgen Supervisor : Luo Junyi Abstract: Now , the research of two-wheel self-balance car get great attention all over the main job of this paper is to study the principle of the two-wheel self-balance car and put forward a design design used ENC-03MB gyroscope sensor and MMA7361LC triaxial acceleration and angle sensor constitute the car status detection algorithms made fusion of gyroscope data and accelerometer data to get the tilt angle of the ,through a certain algorithm to make the car keep system adopted pany DSC 16-bit processor XS128 single-chip puter as the control core,it realized the sensor signal processing the sensor signal processing,filtering algorithm and body control and so the car production pleted,each module can be normal and to coordinate work,the car can keep balancing in unmanned mobile phone Bluetooth can control the car forward,backward,turn right or left,and other actions. Key words : Two-wheel Self-balance Car ; Gyroscope ; Angle Acceleration Sensor ; XS128 Single Chip puter I 目录第1章绪论............................................................................................................................................ 1 背景........................................................................................................................................... 1 选题的目的和意义......