Research And Design Of Self-balancing Robot Attitude Measurement And Control System Based On Mems-IMU And Data Fusion

Self-balancing robot, a simple-structure but complex-control and wide-application system,has important theory research signification and utility value. The thesis adopts STM32 to design and realize the self-balancing robot attitude measurement and control system, and pay attiention to design and realize the attitude measurement unit based on the MEMS inertial sensor. The thesis also puts forward attitude fusion algorithm to improve the attitude measurement accuracy and reduce the cost, power consumption and volume.By absorbing the research status and development trend of self-balancing robot attitude measurement and control system at home and abroad, the thesis summarizes its key techniques and application prospect in the future market, which provides a directional inspiration for designing a self-balancing robot attitude measurement and control system based on a low cost MEMS IMU.The thesis presents the dynamaic balance principle of self-balancing robot attitude measurement and control system, which carries a theoretical annlysis and formula derivation on the maxium system controllable angle. On this basis, the thesis achieves scheme design of system and each module. Under the guidance of the scheme design, it completed the system and module design of hardware and software.The detection accuracy of the inertial attitude measurement system is the key technology. In order to improve the attitude measurement accuracy, the thesis analysis the sensor characteristic and the error sources. Thus the output characteristic of the sensor is summarized and the temperature error mathematical model is built. In the simple environment, the thesis takes advantage of single axis gyroscope and single axis accelerometer to constitute a low cost attitude measurement system, and put forward adaptive residual compensation algorithms based on kalman filter; In the complicated road environment, the thesis propose the adaptive two-step updata for second order EKF to fuse the three axis gyro and accelerometer attitude data.At the end,simulation and experimental shows that the two algorithms can restrain noise interference and fuse the attitude measuring data, with this method, the impact of external acceleration towards the attitude estimation is adaptive compensated. The thesis has a reference to research attitude measurement and control system of some micro carrier or miniature portable equipment.