基于STM32的两轮自平衡遥控小车

针对于现在流行的两轮自平衡车,设计了一个与其原理相似的研究型平衡小车系统。该系统以STM32为主控芯片,采用MPU6050采集小车的姿态。然后通过卡尔曼滤波融对数据进行融合处理,最后利用PID控制算法计算电机的PWM值以控制电机的合理转动,使小车保持平衡。系统利用自制的无线遥控模块中的NRF24L01模块传输控制信号模拟人体姿态调制,控制小车的行走。

At present, the two-wheeled self-balance vehicle is very prevalent. This paper designs a research system which is similar to the theory of this vehicle. This system is based on the control chip STM32 and it depends on the MPU6050 to collect the state date of the vehicle. Then the date is dealt with by the Kalman filtering algorithm and the value of the PWM of the motor is calculated by the PID control algorithm to control the rotate speed of the motor and in this way, the vehicle can keep balance. Besides, the system uses the NRF24L01 remote control module to transmit control signal in which way we can imitate human posture model to control the movement of the vehicle.