飞思卡尔平衡车设计(原理+必要代码)

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1、第七届全国大学生“飞思卡尔”杯智能汽车竞赛电磁组直立行车参考设计方案（版本1.0）直立控制速度控制方向控制竞赛秘书处2011-12-221目录一、前言....................................................................................................................................4二、原理篇.............................................................................

2、...................................................62.1直立行走任务分解..............................................................................................................62.2车模直立控制...........................................................................................................

3、...........72.3车模速度控制....................................................................................................................112.4车模方向控制....................................................................................................................142.5车模倾角测量...............

4、.....................................................................................................152.6车模直立行走控制算法总图............................................................................................19三、电路设计篇.......................................................................

5、...............................................213.1整体电路框图....................................................................................................................213.2DSC介绍与单片机最小系统...........................................................................................223.3倾角

6、传感器电路................................................................................................................253.4电机驱动电路....................................................................................................................273.5速度传感器....................................

7、....................................................................................283.6电磁线检测电路................................................................................................................29四、机械设计篇...........................................