基于飞思卡尔单片机的平衡车设计

The Design of Self-balancing Vehicle Based on Freescale

本文介绍了基于MK60DN256ZVLL10单片机控制系统设计的平衡车硬件电路及直立原理,详细阐述了平衡车直立控制、速度控制和方向控制的参数调试方法。主要创新点为用虚拟示波器来观察速度参数的变化,使调试更为准确和直观。试验证明:该平衡车控制系统稳定,能在直立平衡的基础上实现稳定行走。

This article introduces the design of self-balancing vehicle based on MK60DN256ZVLL10, which were introduced detailedly on two aspects irt electrical design and Balance principle. The method for debugging upright control ,speed control and direction control of the self-balancing vehicle are discussed in the paper. The main innovation is observing speed parameter change by using virtual oscilloscope, it makes debugging more accurate and intuitive. After repeated experiments, it shows that the self-balancing vehicle control system is feasible and reliable. The vehicle can run smoothly while maintaining upright balance.