自动平衡同轴双轮电动小车系统设计

本文旨在研制二种自平衡同轴双轮自平衡小车。系统以姿态传感器（陀螺仪、加速度计）来检测侧身所处的俯仰状态和状态变化率，通过高速中央处理器计算出适当数据和指令后，驱动电动机产生前进或后退的加速度来达到车体前后平衡的效果。本文对系统用到的PID控制技术做了相应的研究，从理论上分析了变积分的PID控制技术的优势，并在系统的实际测试中获得了良好的效果。

Design of Automatic Balance Coaxial Double Electric Car System

In this thesis, a two-wheeled vehicle with the characteristic of self-balancing was developed.According to the inertial sensor （gyroscope, accelerometer ）,the monitoring data of pitching state changing are input into the MCU （Micro Control Unit）calculation for the acceleration commands to drive the motor forward/backward for the balance keeping. Control technique is the core of vehicle movement, PID control technique was detailed investigated in theory, especially for the advantages of PID variational integralion, and finally well-performance was achieved in the application.