The Design Of A Self-balancing Car Based On CCD

Two-wheeled self-balancing car is based on the use of a control object homeostasis principle, itsprinciple is based on what is called a "dynamic stabilization" of the basic principles，is the ability toautomatically balance the vehicle itself. With built-in gyroscope ENC-03MB to capture the angularvelocity of two-wheelers,MMA7361accelerometer to collect wheelers angle and the angle in which thefusion draw wheelers posture state. After the precision and speed through the central microprocessorMC9S12G128calculate the appropriate command to the drive motor by PWM module to balance the effect.With tilt wheelers body, the microcontroller can arbitrarily control the traveling speed and the direction oftwo-wheelers. Thus developed intelligent balanced car "Segway" is not only extremely lightweight, flexible,safe and easy to carry, but also greatly expand your horizons, and bring you unusual driving experience.Two-wheeled self-balancing electric vehicle with intelligent control, flexible movement, energy saving,easy to operate, green, turning radius is zero and so on. So use it to run in a small space, such as stadiums,parks and squares, an international conference or exhibition venues, shopping malls, eco-tourism scenicareas, office buildings, residential quarters living in cities and other indoor or outdoor occasions as thepeople, the short distance means of transport is very appropriate. Because the structure of two-wheelershave been two rounds, leading to focus on two-wheelers, the fulcrum of the next, so itself is an unstablesystem. However, we can use the principles of the inverted pendulum by the microcontroller to keep itbalanced. And be able to balance, based on the work in accordance with what we mean. Figurativelyspeaking, two balanced car works like walking process. In the process of walking, if the center of gravity ofthe body tilted forward and be out of balance, when people will observe through their own eyes to tilt hisbody, so people will react accordingly to prevent himself falling down. Conversely, if the center of gravityof the body tilted back, the body will make a contrary action to prevent himself from falling to the ground.Therefore, if the two-wheeled vehicle wheels compared to human legs, together with the angular velocitycan be measured and the angle of the car, and finally the vehicle body can be achieved through aself-balancing effect control of the microcontroller. Segway self-balancing vehicle has a cycle storagedesign, using gravity control, brakes, parking is achieved by detecting the center of gravity and frictionbraking system not specifically, So slow down the process, and not because of the kinetic energy is converted to heat and friction wasted, but they converted into electrical energy stored in the battery. ChinaSmart Balance car appeared, no doubt so that people in an increasingly congested city, the freedom andflexibility to travel.CCD is called charge-coupled device, you can also call it a CCD image sensor. It is an optical imagecan be converted to a digital signal of the semiconductor device. Distribution neat called pixel photodiodeCCD.CCD resolution and its pixel is proportional, CCD sensor module through which the above lightsensing photodiode, and converts the optical signals into electrical signals. We balanced the two electric carat a CCD module installed, it detects the black bars on the track, in order to determine the direction of itsadvance. Finally CCD peripheral circuit on the module test results will be sent to the microcontroller ADcollection port, allowing the microcontroller to make a reasonable judgment, then the differential rotationof the motor is controlled by a microcontroller MC9S12G128direction of the PWM module controls thatlet two electric car ran track balance.