一种两轮自平衡小车的设计与实现

Design and Realization of a Two- wheel Self- balanced Vehicle

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平衡小车控制系统.自平衡小车本身是一个不稳定体,类似于传统的倒立摆与蹊跷板平衡系统.以STM32F103C8T6为主控芯片,利用MPU6050采集小车的姿态数据,通过卡尔曼滤波算法对数据进行处理,最后采用PID控制算法计算电机的PWM值以控制电机的转动,实现小车的平衡.系统采用蓝牙通信技术,通过手机APP实现控制小车的运动.

Aiming at the popular two- wheel self- balanced vehicle,this article designed a similar vehicle. It is an unstable system which is similar to traditional inverted pendulum balancing system. In this system,STM32F103C8T6 is selected as the microcontroller,and MPU6050 is used in attitude data acquisition. Kalman filtering algorithm is used to process the data,and PWM results for motor control are obtained by using PID algorithm. Ultimately,bluetooth communication and mobile APP technologies are used in the movement control of this vehicle.