中文摘要：

为解决两轮自平衡系统中传感器存在较大震动干扰与漂移误差的问题，并提高系统姿态倾角测量的精确性和实时性，提出了基于陀螺仪与加速度计数据融合的两轮系统自平衡控制方法。建立两轮自平衡系统的动力学模型，采用卡尔曼滤波算法融合陀螺仪与加速度计信号，得到系统姿态倾角与角速度最优估计值，通过双闭环数字PID算法实现两轮系统的自平衡控制。通过两轮小车自平衡控制系统的软硬件设计，成功验证了该方法的可行性与有效性。利用该方法大大提高了两轮自平衡系统的抗干扰性。

英文摘要：

In order to solve the problem of the large vibration interference and drift error of the sensor in self-balancing two-wheel vehicle system, and to improve the precision and real-time performance of the system attitude angle measurement, a method based on gyroscope and aceelerometer data fusion is presented. On the basis of the establishment of self-balancing two-wheel sys- tem dynamics model, Kalman-Fihering algorithm is used to fuse the gyroscope and aecelerometer signals in order to get the optimal estimate of system attitude angle and angular velocity. The self-balancing two-wheel vehicle control system is achieved by double closed loop digital PID algorithm. Through the hardware and software design, it verifies the feasibility and effectiveness of the method successfully, and the method greatly improves the anti-interference performance of self-balancing two-wheel system.