摘要
以飞思卡尔E车模为模型,意法半导体stm32为控制核心,设计了一个两轮自平衡车。阐述了平衡车的硬件组成和软件设计,设计了单片机最小系统、电源模块、姿态检测模块的电路。给出了软件的总体设计框图,包括卡尔曼滤波算法、姿态检测和PID控制算法。该平衡车能够实现稳定、可靠地车体直立、匀速以及转向功能,表明算法准确有效。
Two-wheeled auto-balancing vehicle is designed based on the model of Carle E model and the method of stm32 as the control core.The hardware composition and software design of the balance vehicle are introduced,and the circuit design of the MCU minimum system,power supply module and attitude detection module is introduced in detail.The overall design block diagram of the software is given,including the Calman filter algorithm,attitude detection and PID control algorithm.The balance vehicle can achieve the stability and reliability of the vehicle body upright,uniform and steering function,thus the algorithm is accurate and effective.
出处
《滨州学院学报》
2016年第4期75-79,共5页
Journal of Binzhou University
基金
滨州学院科研基金项目(BZXYG1519)
关键词
单片机
两轮平衡车
卡尔曼滤波
控制电路
人机交互
MCU
two-wheeled auto-balancing vehicle
Calman filter
control circuit
interaction
