基于单片机的两轮自动平衡小车设计

Design of Two-wheeled Automatic Balancing Bogie Based on Single Chip Microcomputer

将倒立摆的工作原理应用在两轮自平衡小车中,使小车保持自平衡运行。采用STC12C5A60S2单片机为核心控制器,利用MMA7361加速度传感器、EN-03陀螺仪感知的小车运动状态,采用PI控制算法,实现了以单片机内置的PCA/PWM模块输出的PWM驱动L298芯片控制电机正反转和速度,使车体保持平衡运动。

Work principle of inverted pendulum was applied to two-wheeled bogie, which keeps balance operation of bogie. By using STC12C5A60S2 single chip microcomputer as core controller, MAX7361 accelerating transducer and EN-03 gyro- scope and PI controlling algorithm, the paper was realized PWM drive L298 chip positive and negative going motion as well as speed of PCA/PWM module, which keep balance exercise of the bogie body.