基于STM32控制的双轮自平衡小车的设计

Design of Self Balancing Car with Two Wheels Based on STM32 Control

该设计作为自平衡小车的初步研究,目的是通过软硬件设计做出一个两轮机器人,使其在供电后,可实现无人干预下自主平衡直立。以STM32f103c8T6单片机作为主控芯片,集成陀螺仪和加速度计的六轴运动处理组件MPU6050作为姿态传感器,这里用互补滤波算法对采集的数据信息进行融合,来克服数据的不准确性,以TB6612来控制两个大功率直流电机,在直立控制方面,采用角度和角速度反馈,以PD控制来实现直立平衡。

As a preliminary study of the self-balancing vehicle, the purpose of this design is to design a two-wheeledrobot by software and hardware design, which can realize the autonomous balance and upright with no one interventionafter the power supply. The STM32f103c8T6 microcontroller is used as the main control chip, and the six-axis motionprocessing module MPU6050 of gyroscope and accelerometer is integrated as the attitude sensor. In order to overcomethe inaccuracy of the data, the complementary filtering algorithm is used to fuse the collected data information. Twohigh power DC motors are controlled by TB6612. In vertical control, angle and angular velocity feedback are adopted,and PD control is used to realize vertical balance.