卡尔曼滤波与PID的自平衡小车设计

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中图分类号：TP273 文献标识码：A 文章编号：2096-4706（2025）19-0182-06

Abstract：Aimingatthe problem of sensor noise interferenceand poor dynamic stability in theatitudecontrol of selfbalancing cars，this paper proposesa multi-sensor fusion architecture basedonthe Kalman filter.By establishing a nonlinear dynamicmodelandcombining thecharacteristicsofthe MPU6o50 sensor，anadaptive Kalman filteralgorithmisdesigned to compensate the atitude angle and eliminate theangle driftcaused bylow-frequency noise.In terms of control strategy， hierarchical PIDcontrol is adopted toconstructathre-loopcolaborativesystemofupright，spedand steering tooptimize parameters.Theexperimentalresultsshow thathe strategycanefectively maintaintheautonomous balanceofthecar，and has good application and promotion value.

Keywords： PID control algorithm; balancing car; Kalman filter

0 引言

两轮自平衡小车的平衡控制具有不稳定、非线性、强耦合等特点，在实际应用场景中，动态平衡的精准维持及复杂环境信息的有效感知等难题仍亟待解决[1-3]。（剩余6576字）