基于ATMEGA328自平衡小车

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1、《机电一体化系统设计》——自平衡小车设计报告题目：基于Atmega328自平衡小车班级：11机电实验班成员：丁宝进2011339930111杜佳威2011339930112陆勤超2011339930118毛鹏飞2011339930119指导教师：李晓明2015年1月目录一、系统模型设计.................................................................................21.1系统设计方案..................................................................

2、..........21.2系统的原理分析........................................................................31.3三维结构设计............................................................................61.4系统Matlab仿真....................................................................61.5PID算法..............................

3、.....................................................8二、系统硬件.......................................................................................82.1Atmega328单片机...................................................................82.2姿态检测模块............................................................

4、.............102.3电机驱动电路.........................................................................122.4电源模块.................................................................................132.5Nokia5110液晶显示模块.......................................................14三、系统软件设计............................

5、..................................................153.1程序设计框架.........................................................................153.2姿态检测模块..........................................................................163.2.1卡尔曼滤波.....................................................................

6、.16四、实物成果......................................................................................17五、参考文献......................................................................................18六、附件..............................................................................................196.1电路图...

7、..................................................................................196.2主程序.....................................................................................191基于Atmega328自平衡小车设计摘要：本