国外的自平衡双轮载人车资料
国外的自平衡双轮载人车资料http://www.zzaag.org/index_eng.html
http://mav.nekrom.com/The%20MAV%20-%20Mono%20Axial%20Vehicle%20-%20report.html
http://web.mit.edu/zacka/www/tipper.html
A low-cost balancing scooter
Balancing two-wheel scooter (BTWS) with ATMEGA32
详细的图纸程序资料ourdev_588519PZJXOU.zip(文件大小:10.16M) (原文件名:AT3329.zip) mark Ding mark mark 很好的资料，谢谢分享 mark 小弟在这里有一个疑问：像这种自平衡小车的平衡传感器放在哪里的，如果是在底板上的话，那么遇到上坡情况该怎么考虑，是不是会有问题啊 mark mark mark mark! mark mark 6楼同仁，看完资料后想一想再问不迟。 MARK mark! mark 记号！ jihao 好极了，谢谢 mark mark 正在仿制中...... mark mark mark 学习 mark mark很给力，不知自己DIY的话成本几何，我想做一个的说。穷学生飘过 mark mark，有空看看 学习了，手痒痒 MARK 自平衡 谢谢，我找了好久啊，顶 英语看不懂额。。。。。。。 请教一下，如果我改变了电机功率就是换个转得快的电机,，会不会影响小车的运动姿态？ 支持，学习一下 mark mark mark 顶 mark！ mark 好啊，，，正求这样的4资料 先下下来看看，现在茫然阶段 不错 回复【楼主位】tjhk
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你好，问一下这个工程代码里的
buf1 = buf1 - AD_GYRO * 10; //为什么*10
buf1 *= 35; //35是什么意思
buf1 /= 100; //为什么要除以100
Angle_Rate = buf1;这里的35是什么意思，我仔细的阅读了EWTS4的pdf，找不到这个系数，在这个pdf的最后一页有个25mv/（deg/sec），不是35，所以很奇怪.
还有，AD_GYRO*10,这里的10如果是只10ms的采样时间的话，那加速度*10不就是角度，所以很奇怪，还有为什么要除以100，望楼主详解，谢谢。 回复【楼主位】tjhk
-----------------------------------------------------------------------
你好，问一下这个工程代码里的
buf1 = buf1 - AD_GYRO * 10; //为什么*10
buf1 *= 35; //35是什么意思
buf1 /= 100; //为什么要除以100
Angle_Rate = buf1;这里的35是什么意思，我仔细的阅读了EWTS4的pdf，找不到这个系数，在这个pdf的最后一页有个25mv/（deg/sec），不是35，所以很奇怪.
还有，AD_GYRO*10,这里的10如果是只10ms的采样时间的话，那加速度*10不就是角度，所以很奇怪，还有为什么要除以100，望楼主详解，谢谢。 mark 请问下，做载人自平衡车要用什么型号的角速度传感器？ 谁有现成的板子和元件，我买一套，自己回来装一台玩 有谁用1楼的
A low-cost balancing scooter
Balancing two-wheel scooter (BTWS) with ATMEGA32
这个做过平衡车吗，我用他的线路板图纸和程序，怎么都不成功，还老是打坏mcu，这都第三块了。 ding mark . 谢谢，学习！！！ x7d8 发表于 2013-2-11 13:33 static/image/common/back.gif
有谁用1楼的
A low-cost balancing scooter
Balancing two-wheel scooter (BTWS) with ATMEGA32
Get_Tiltangle()函数我就是看不懂啊，都看了好多天了，就是不知道他是怎么获得角度的 zfelight 发表于 2012-2-12 10:59 static/image/common/back.gif
回复【楼主位】tjhk
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你好，问 ...
Get_Tiltangle()函数我就是看不懂啊，都看了好多天了，就是不知道他是怎么获得角度的，你知道这段代码是如何获得角度的吗？看不懂哎 我也没看懂这个函数，都不确定算出来的单位是度还是弧度，求大侠们解答！
我看过几个国外方案，包括常说的德国那个，都跟楼上那个是同源的
工
本帖最后由 ansion520 于 2013-6-20 10:36 编辑我这还有一份用BIASIC语言参照那个BTWS写的，我发上来大家对照着看！帮忙注解一下代码！很多都看不明白那些参量怎么来的！ 'zzaag Firmware for fun-components Controller UC01'
' Release A2
$crystal = 16000000
$baud = 19200
Pwm_al Alias Ocr1al
Pwm_bl Alias Ocr1bl
Vreg Alias Portd.2
Buzz Alias Portc.0
Led1 Alias Portc.1
Led2 Alias Portc.2
Led3 Alias Portc.3
Led4 Alias Portc.4
Led5 Alias Portc.6
Cw_ccw_a Alias Portd.7
Cw_ccw_b Alias Portd.6
Config Porta = Input
Config Portb = Input
Config Portc = Output
Config Portd = Output
Config Adc = Single , Prescaler = 128 , Reference = Off
Start Adc
Config Timer0 = Timer , Prescale = 1024
On Timer0 Tinter
Portb = 3
Dim Buzzer As Byte
Dim Ad_adxl As Long
Dim Ad_gyro As Long
Dim Ad_batt As Integer
Dim Ad_swi As Integer
Dim Total_adxl_gyro As Long
Dim Average_gyro As Long
Dim Average_batt As Long
Dim Drivea As Integer
Dim Driveb As Integer
Dim Buf1 As Long
Dim Buf As Long
Dim Buf2 As Long
Dim Buf5 As Integer
Dim Tilt_angle As Long
Dim Drive_a As Integer
Dim Drive_b As Integer
Dim Drive_as As Integer
Dim Drive_bs As Integer
Dim Tcount As Integer
Dim Drivespeed As Integer
Dim Steeringsignal As Long
Dim Anglecorrection As Long
Dim Angle_rate As Long
'Dim Voltage As Long
Dim Balance_moment As Long
Dim Overspeed As Long
Dim Mmode As Byte
Dim Overspeed_flag As Byte
Dim Drive_sum As Long
Dim Ad_rocker As Integer
Dim Blink_flag As Byte
Dim Timeout As Long
Dim Delta As Byte
Dim Buf3 As Long
Dim Rockersq As Long
Dim Rocker_zero As Integer
Dim Adxl_zero As Word
Dim Gyro_zero As Word
Dim Loopct As Integer
Const First_adc_input = 0
Const Last_adc_input = 6
Const Adc_vref_type = $0x40
Const Mdrivesumlimit = -43000
Const Total_looptime = 500 ' / / Looptime For Filters
Const Total_looptime10 = 50 ' / / Looptime For Filters
Const Adxl_offset = -13 ' / / Stick Angle Offset
Const _run = 1
Const _standby = 0
Const _warmup = 2
Const Safespeed = 5000
Const Msafespeed = -5000
Const Sw_down = 50
Const Critical = 80
Const Battok = 1023
Const Batt_low = 990
Const Max_pwm = 210
Const Mmax_pwm = -210
Declare Sub Get_bat_volt
Declare Sub Get_tilt_angle
Declare Sub Set_pwm
Declare Sub Algo
Declare Sub Process
Declare Sub Ini
Declare Sub Getspeedlimit
Declare Sub Err_eeprom
' motorcontroller disabled / PWM-Signals to zero'
Set Vreg
Pwm_al = 255
Pwm_bl = 0
'Init Variables'
Gosub Ini
'--------------------------------------------------------------'
'check calibrate Jumper'
If Pinb.0 = 0 Then
'calibrate'
Print "CALIB-MODE"
'give some signs
For Buf = 1 To 4
Set Buzz
Waitms 75
Reset Buzz
Waitms 75
Next Buf
Waitms 500
Buf1 = 0
For Buf = 1 To 10
'read AD-Channel ad_gyro'
Buf3 = Getadc(3)
Buf1 = Buf1 + Buf3
Waitms 100
Next Buf
'calculate middle'
Buf5 = Buf1 / 10
Delta = High(buf5)
'store data in eeprom'
Writeeeprom Delta , 2
Writeeeprom Delta , 4
Delta = Low(buf5)
Writeeeprom Delta , 3
Writeeeprom Delta , 5
Buf1 = 0
For Buf = 1 To 10
'read AD-channel ad_adxl'
Buf3 = Getadc(1)
Buf1 = Buf1 + Buf3
Waitms 100
Next Buf
Buf5 = Buf1 / 10
Delta = High(buf5)
'store data in eeprom'
Writeeeprom Delta , 6
Writeeeprom Delta , 8
Delta = Low(buf5)
Writeeeprom Delta , 7
Writeeeprom Delta , 9
End If
'-----------------------------------------------------------------'
'-----------------------------------------------------------------'
'check Bootloader Jumper'
If Pinb.1 = 0 Then
'Bootloader'
Print "Entering bootloader"
'give some signs
For Buf = 1 To 5
Set Buzz
Waitms 45
Reset Buzz
Waitms 75
Next Buf
'jump to bootload code'
jmp $3c00
End If
'-----------------------------------------------------------------'
'-----------------------------------------------------------------'
'read Calib.Data (pair 1)
Readeeprom Delta , 2
Buf = Delta * 256
Readeeprom Delta , 3
Buf = Buf + Delta
'Buf = 527
'read Calib.Data (pair 2)
Readeeprom Delta , 4
Buf3 = Delta * 256
Readeeprom Delta , 5
Buf3 = Buf3 + Delta
'Buf3 = 527
'set gyro_zero value'
Gyro_zero = Buf
'Datapairs not equal-> Epprom-err'
If Buf3 <> Buf Then
Goto Err_eeprom
End If
'or empty eeporm (default value) ?
If Buf3 = 65535 Then
Goto Err_eeprom
End If
'read Calib.Data (pair 1)
Readeeprom Delta , 6
Buf = Delta * 256
Readeeprom Delta , 7
Buf = Buf + Delta
'read Calib.Data (pair 2)
Readeeprom Delta , 8
Buf3 = Delta * 256
Readeeprom Delta , 9
Buf3 = Buf3 + Delta
'Buf = 515
'Buf3 = 515
'set adxl_zero value'
Adxl_zero = Buf
'Datapairs not equal-> Epprom-err'
If Buf3 <> Buf Then
Goto Err_eeprom
End If
'or empty eeporm (default value) ?
If Buf3 = 65535 Then
Goto Err_eeprom
End If
'set average_gyro
Average_gyro = Total_looptime * Gyro_zero
'---------------------------------------------------------'
'---------------------------------------------------------'
'Get Steering_zero Position'
Ad_rocker = 0
For Buf = 1 To 10
Ad_rocker = Ad_rocker + Getadc(5)
Waitms 5
Next Buf
'calculate middel'
Rocker_zero = Ad_rocker / 10
'----------------------------------------------------------'
'----------------------------------------------------------'
' Give some beeps
Set Buzz
Waitms 20
Reset Buzz
Waitms 50
Set Buzz
Waitms 20
Reset Buzz
'enable Motorcontroller'
Reset Vreg
Enable Interrupts
Enable Timer0
'main loop
S1:
' nothing to do, all work is done in the interrupt ;)
Goto S1
'----------------------------------------------------------'
'----------------------------------------------------------'
Sub Get_bat_volt
Buf = Average_batt / Total_looptime
Average_batt = Average_batt - Buf
Average_batt = Average_batt + Ad_batt
'check Batt Voltage
Buf = Batt_low * Total_looptime
If Average_batt < Buf Then
Set Buzz
End If
End Sub
'----------------------------------------------------------'
'----------------------------------------------------------'
Sub Set_pwm
'Limiting PWM'
If Drive_a > Max_pwm Then
Drive_a = Max_pwm
End If
If Drive_a < Mmax_pwm Then
Drive_a = Mmax_pwm
End If
'set direction bit'
If Drive_a < 0 Then
Drivea = Drive_a * -1
Cw_ccw_a = 1
End If
If Drive_a >= 0 Then
Drivea = Drive_a
Cw_ccw_a = 0
End If
'Inverse signal to have 180?phaseshift to PWMB
Pwm_al = 255 - Drivea
'Limiting PWM'
If Drive_b > Max_pwm Then
Drive_b = Max_pwm
End If
If Drive_b < Mmax_pwm Then
Drive_b = Mmax_pwm
End If
'set direction bit'
If Drive_b < 0 Then
Driveb = Drive_b * -1
Cw_ccw_b = 1
End If
If Drive_b >= 0 Then
Driveb = Drive_b
Cw_ccw_b = 0
End If
Pwm_bl = Driveb
End Sub
'----------------------------------------------------------'
'----------------------------------------------------------'
Sub Algo
Buf = Tilt_angle + Anglecorrection
Buf = Buf * 17
Buf1 = Angle_rate * 20
'calculate balance moment
Balance_moment = Buf1 + Buf
'check speedlimit
Gosub Getspeedlimit
'calculate drive_sum
Drive_sum = Drive_sum + Balance_moment
' limitting
If Drive_sum > 55000 Then
Drive_sum = 55000
End If
If Drive_sum < -55000 Then
Drive_sum = -55000
End If
'calculate drive speed'
Buf = Drive_sum / 125
Buf1 = Balance_moment / 125
Drivespeed = Buf + Buf1
End Sub
'----------------------------------------------------------'
'----------------------------------------------------------'
Sub Getspeedlimit
If Drive_sum < 0 Then
If Drive_sum < Mdrivesumlimit Then
Anglecorrection = -13
Buzzer = 1
Set Buzz
Else
Anglecorrection = 0
End If
End If
End Sub
'----------------------------------------------------------'
'----------------------------------------------------------'
Sub Process
Tcount = Tcount + 1
'do some logs or something else
If Tcount > 30 Then
Tcount = 1
'Print Tilt_angle ; " ";
'Print Ad_adxl ; " ";
'Print Ad_gyro ; " ";
Print Average_batt ; " ";
Print Ad_batt;
'Print Average_gyro ; "";
'Print Mmode;
End If
'calculate steering'
Rockersq = Rocker_zero - Ad_rocker
If Rockersq > 0 Then
'make it progressiv
Rockersq = Rockersq * Rockersq
End If
If Rockersq < 0 Then
Rockersq = Rockersq * Rockersq
Rockersq = Rockersq * -1
End If
'Steering depends even on speed'
Buf1 = Drive_sum / 600
If Buf1 < 0 Then
Buf1 = Buf1 * -1
End If
Buf1 = Buf1 + 77
Rockersq = Rockersq / Buf1
'some safety lines, limits the max. steering
If Rockersq > 25 Then Rockersq = 25
If Rockersq < -25 Then Rockersq = -25
'make the steering smooth
If Steeringsignal < Rockersq Then
Steeringsignal = Steeringsignal + 4
End If
If Steeringsignal > Rockersq Then
Steeringsignal = Steeringsignal - 4
End If
'set speed and steering
Drive_a = Drivespeed - Steeringsignal
Drive_b = Drivespeed + Steeringsignal
'need some seconds to compensate the gyro temp-drift
If Mmode = _warmup Then
Drive_a = 0
Drive_b = 0
Drive_as = 0
Drive_bs = 0
Drivespeed = 0
Anglecorrection = 0
Overspeed = 0
Drive_sum = 0
Total_adxl_gyro = 0
Tilt_angle = 0
If Loopct > 1100 Then
Mmode = _standby
' Give some beeps
Set Buzz
Waitms 20
Reset Buzz
Waitms 50
Set Buzz
Waitms 20
Reset Buzz
End If
End If
If Mmode = _standby Then
Drive_a = 0
Drive_b = 0
Drive_as = 0
Drive_bs = 0
Drivespeed = 0
Anglecorrection = 0
Overspeed = 0
Drive_sum = 0
Total_adxl_gyro = 0
Tilt_angle = 0
Buf2 = Ad_adxl - Adxl_zero
Buf2 = Buf2 + Adxl_offset
Buzzer = 0
Timeout = 0
'stand on platform
If Ad_swi > Sw_down Then
Mmode = _run
End If
End If
If Mmode = _run Then
'check platform buttons
If Ad_swi > Sw_down Then
'Person on board,
'buzzer still on?
If Buzzer = 1 Then
Buzzer = 0
End If
End If
If Ad_swi < Sw_down Then
'no Person on baord!, check savespeed
If Drive_sum < 0 Then
If Drive_sum < Msafespeed Then
Buzzer = 1
End If
If Drive_sum > Msafespeed Then
Buzzer = 0
End If
End If
If Drive_sum > 0 Then
If Drive_sum > Safespeed Then
Buzzer = 1
End If
If Drive_sum < Safespeed Then
Buzzer = 0
End If
End If
If Buzzer = 1 Then
If Timeout > Critical Then
Mmode = _standby
End If
End If
End If
If Buzzer = 0 Then
Timeout = 0
End If
Timeout = Timeout + Buzzer
End If
End Sub
'-----------------------------------------------------------------------'
Sub Ini
$asm
ldi r16,0
Out Porta , R16
Out Ddra , R16
'ldi r16,$e2
'Out Portb , R16
'ldi r16,$e3
'Out Ddrb , R16
ldi r16,0
Out Portc , R16
ldi r16,255
Out Ddrc , R16
ldi r16,$34
Out Portd , R16
ldi r16,$ff
Out Ddrd , R16
ldi r16,$b1 'b1=8bit ,b2=9bit,b3=10bit
Out Tccr1a , R16
ldi r16,$01 ' 01 no prescaler!
Out Tccr1b , R16
ldi r16,0
Out Tcnt1h , R16
Out Tcnt1l , R16
Out Icr1h , R16
Out Icr1l , R16
Out Ocr1ah , R16
ldi r16,$ff
'Out Ocr1ah , R16
Out Ocr1al , R16
ldi r16,0
'Out Ocr1bh , R16
ldi r16,0
Out Ocr1bl , R16
Out Assr , R16
Out Tccr2 , R16
Out Tcnt2 , R16
Out Ocr2 , R16
$end Asm
Average_batt = Total_looptime * Battok
Total_adxl_gyro = 0
Average_gyro = 0
'Average_batt = 0
Drivea = 0
Driveb = 0
Tilt_angle = 0
Drive_a = 0
Drive_b = 0
Drivespeed = 0
Steeringsignal = 0
Anglecorrection = 0
Angle_rate = 0
'Voltage = 0
Balance_moment = 0
Overspeed = 0
Mmode = _warmup
Overspeed_flag = 0
Drive_sum = 0
Ad_rocker = 0
Tcount = 0
Steeringsignal = 0
Drive_as = 0
Drive_bs = 0
Timeout = 0
Delta = 0
Loopct = 0
End Sub
'----------------------------------------------------'
Tinter:
Disable Interrupts
Gosub Get_bat_volt
Gosub Get_tilt_angle
Gosub Algo
Gosub Process
Gosub Set_pwm
Buzz = Buzzer
Timer0 = 100
Enable Interrupts
Return
'----------------------------------------------------'
Sub Err_eeprom
S3:
For Buf = 1 To 6
Set Buzz
Waitms 75
Reset Buzz
Waitms 75
Next Buf
Wait 2
Goto S3
End Sub
'----------------------------------------------------'
Sub Get_tilt_angle
Ad_gyro = Getadc(3)
Ad_adxl = Getadc(1)
Ad_batt = Getadc(6)
Ad_rocker = Getadc(5)
Ad_swi = 1024 - Getadc(4)
Buf = Total_adxl_gyro / Total_looptime
Total_adxl_gyro = Total_adxl_gyro - Buf
' ADXL part
Buf = Ad_adxl - Adxl_zero
Buf = Buf + Adxl_offset
Total_adxl_gyro = Total_adxl_gyro + Buf
' Gyro part
Buf1 = Average_gyro / Total_looptime
Average_gyro = Average_gyro - Buf1
Average_gyro = Average_gyro + Ad_gyro
Buf1 = Average_gyro / Total_looptime10
' calculate the Angle Rate
Buf = Ad_gyro * 10
Buf1 = Buf1 - Buf
Buf1 = Buf1 * 35
Buf1 = Buf1 / 100
Angle_rate = Buf1
' calculate the Tilt Angle
Total_adxl_gyro = Total_adxl_gyro + Angle_rate
Tilt_angle = Total_adxl_gyro / Total_looptime10
Loopct = Loopct + 1
Return
End Sub
End 这开源的几款车体和板子我都有,谁要平宜清了 MARK,DING..... ansion520 发表于 2013-6-20 10:34 static/image/common/back.gif
我这还有一份用BIASIC语言参照那个BTWS写的，我发上来大家对照着看！帮忙注解一下代码！很多都看不明白那些 ...
早已经有C的程序出来了 下来看看
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