基于STC12C5410AD单片机的两轮自平衡小车的系统设计

Two-wheel self-balanced vehicle system design based on the single-chip microcomputer of STC12C5410AD

两轮自平衡小车本质上是一种不稳定的系统,只有通过调节两轮的运动快慢和运动方向才能使其达到动态的平衡。本设计从自平衡原理开始分析说明,阐述了控制系统的硬件设计,并对角速度传感器和重力加速度传感器测量车模实际倾角的过程和方法做了仔细分析说明,对系统中涉及到的角度融合控制算法和增量式PID控制算法做了理论分析,最后给出了整个系统的软件控制流程图。实验表面两轮自平衡小车基本能够实现直立行走。

Two-wheel self-balanced vehicle is a kind of unstable nature system, only by adjusting its speed and movement direction of the two wheels so as to achieve a dynamic balance. With the beginning of study about self-balancing principle, the paper expatiates on hardware of the control system. The processes and methodologies of measuring car model's real angle with angular sensor and Gravity sensor are also analyzed. The thesis did the theoretical research of coupling angle control algorithm and incremental PID control; the flow charts of control software are given in this paper. Experiments shows that the two-wheel self-balanced vehicle can basic achieve walking upright.