基于STM32的智能平衡车控制系统设计

Design of STM32-based control system for intelligent balanced vehicle

介绍一种以STM32为控制核心的两轮智能平衡车的控制系统设计。利用陀螺仪和加速度计获得车体的倾角和角速度,通过光电编码器获得平衡车的速度。将转速控制信号与平衡控制信号叠加加载到两后轮电机,实现平衡车的静止和直立行走。同时,采用TSL1401线性CCD获得赛道图像信息,经过对图像的识别处理,准确快速地提取出赛道的中心线,获得平衡车的方向偏差控制量。实际运行结果表明,该平衡车能保持直立行走运动并快速实现不同路径上的转向和自主寻迹,具有较强的适应性和稳定性。

Design of a STM32?based control system for intelligent balanced vehicle is introduced,which uses the gyroscopeand accelerometer to get the dip angle and angular velocity of the balanced vehicle,and adopts photoelectric encoder to acquirethe speed of the balanced vehicle. The speed control signal and balance control signal are superimposed and then are loaded tothe two motors in rear wheels for realizing the stillness and upright walk of the vehicle. Meanwhile,TSL1401 linear CCD is usedto obtain the image information of the track,and the center line of the track is got accurately and the controlled quantity of direc?tion bias of the vehicle is obtained after the recognition processing of the image. The actual operation results show that intelligentbalanced vehicle can keep upright walk,implement steering and autonomous tracing on different paths quickly,and has goodadaptability and stability.