倒立摆摆杆角度检测装置的设计与实现

Design and Realization of Angle Detector for Inverted Pendulum Bar

中文关键词:  角度检测  摆杆  加速度计  陀螺仪

英文关键词:angle detection  pendulum bar  acceleration sensor  gyroscope sensor

中文摘要:

      根据倒立摆控制过程中的摆杆角度检测需求，利用MMA7361加速度传感器和MB546陀螺仪设计了一个倒立摆摆杆检测装置。装置通过陀螺仪获取角速度信号,并经过积分来获取角度；利用通过重力加速度计获取的噪音较大的角度信号去消除通过积分获取的角度的积分误差；从而获取正确的角度值。通过在倒立摆控制系统中的实际应用，证明了该方法的正确性。该方法对四旋翼飞机机体角度检测、坦克火炮仰角检测等有一定的借鉴意义。

英文摘要:

      A new angle detecting device with MMA7361 and MB546 is designed to gain the pendulum’s angle.The angular velocity being obtained from MB546 gyroscope is integrated.But the result has the integral error.The signals obtained from MMA7361 acceleration sensor are introduced.The integral error can be avoided through dual data fusion method.The practical application in inverted pendulum control system shows the correctness.This method has a certain significance for tank artillery elevation detecting.