双轮平衡车开发文档

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1、CircuitCellar/AtmelAVRDesignContest2006Entry:AT3329Balancingtwo-wheelscooter(BTWS)withATMEGA32CompleteEntryAlow-costbalancingscooter,abletocarry90kgwithaspeedof15km/hoveradistancefrom10km...Purposewiththisprojectwastodevelopavehicle,whichcorrespondsinhisfunctiontotheknownSegway™.Besides,

2、thecostsshouldbeheldaslow,asjustpossible.EntryAT3329OverviewTheBTWSisanelectricdrivenscooterwithanelectronicforcontrollinganddrivingthesystem.ThesignalprocessingisdonebyanAtmelAtmega32microcontroller.Itshowshowpowerful,flexibleandsecureasofastsignalprocessingcanbedonewithanAVRdevice.1.Op

3、erating2.Mechanics3.SystemControl4.Electronic5.Schematics6.Software7.Partlist8.Flowcharts9.Listing10.Sources/References1.OperatingAfterswitchingontheunit,theelectronicsisinstandbymode.Throughshiftthehandleintotheverticalityposition,drivingmodewillbeactivated.Theenginesarepoweredandtheequ

4、ipmentisbalanced.Nowyoucanascendanddriveoff.EntryAT33292EntryAT33292.MechanicsThebasicconstructionexistsofwood.Youstandonthebaseplatefirmlywithastraightstickisconnected.Attheupperendofthestickapotentiometer-rockerisappropriatefortheleft/rightsteering.Inthemiddlebetweenthefeettheleadacidb

5、atteriesarestowed.Underthebaseplateastiffaxisisfastenedonthattheballbearingwheelsarefastened.Theenginesarefastenedfrombelowtothebaseplateandtransferredherstrengthaboutachaindriveonthewheels.Sprocketswith72teetharescrewedatthesideontothewheels.Inmidstthebaseplatetheelectronicsisfastened.F

6、igure1:mechanicalconstructionPhoto1:MotorChainPhoto2:Motor,WheelEntryAT33293EntryAT3329Photo3:WheelPhoto4:BottomViewPhoto5:CompleteEntryAT33294EntryAT33293.SystemControlControloftheBTWSfunctionsaftertheprincipleofthe"dynamicstabilization".Thismeansthatitselfthevehiclebalancesindependentl

7、y.Thefunctionalwayisasthehumanbalancesense.Insteadofinnerear,eyes,musclesandbrainworksaGyro(Sensorfortheanglerate)andanaccelerationSensor,amicroprocessorATMEGA32andhighpowerelectricmotorstogethertostabilizethebalance.Forwardandregressionisreachedbyleaningforwardandleaning