双轮平衡车的设计与研究

Design and research of two wheel balance vehicle

本文基于STM32单片机,并采用陀螺仪等元器件,PID算法实现双轮平衡车的设计,实现小车直立行走。双轮平衡车小车采用MPU6050六轴陀螺仪传感器作为基本原件设计出姿态检测装置,小车的倾斜角等由陀螺仪数据和加速度计数据耦合,再通过PID算法使小车保持直立状态和实现车身控制等一些任务,实现了负重状态下小车的自主平衡。

In this paper,based on Stm32 single-chip microcomputer,gyroscope and other components,PID algorithm to achieve the design of two-wheel Balancing car.MPU6050“Six-axis gyroscope”is used as the attitude sensor of the car,algorithms are used to combine the angle and angular velocity data which provided by gyroscope and accelerometer.Then to make the car keep stand and realize some other task such as control the body after PID control.As a result,the car can achieve self-balance without human intervention even under loaded state.