摘要
介绍了一种采用STM32F103C8T6单片机和数字运动传感器MPU-6050等设计的两轮自平衡小车。并利用卡尔曼滤波器算法融合陀螺仪和加速度计信号,计算出小车倾角和角速度的最优估计值,利用数字PID算法控制驱动电机的PWM信号实现两轮小车的自平衡控制。实际测试表明,设计的两轮小车可稳定地实现自平衡控制及简单的遥控运动功能。
This paper presents a design of self-balancing two-wheeled vehicle based on a STM32 F and a digital motion sensor（ MPU-6050）. Kalman-filtering algorithm is used to fuse the gyroscope and accelerometer signal in order to get the optimal estimate of vehicle attitude angle and angular velocity. The self-balancing two-wheeled vehicle control system is achieved by digital PID algorithm which controls PWM signals of two DC motors. Experiments show that the two-wheeled vehicle can stably achieve self-balancing and simple movement under remote control.
出处
《电子科技》
2014年第11期96-99,105,共5页
Electronic Science and Technology
基金
江苏省大学生创新创业计划省级重点基金资助项目(201310324003Z)
