基于STM32芯片的自平衡机器人

Self balancing robot based on STM32 chip

科技发展之快,机器人的种类也越发之多,其中自平衡机器人在控制性、生产经济性、功能拓展性等方面比轮式机器人有明显的优势。STM32单片机是机器人的基础部件,并通过MPU6050陀螺仪模块收集机器人机身的角度和加速度数据,对平衡机器人做姿态检测。机器人的速度数据通过霍尔传感器被反馈到处理器,经处理器的分析处理后调整左右电机转速来维持机器人平衡。经过我们的测试结果表明自平衡机器人控制系统是可以实现的,并且在普通的平衡机器人基础上我们还增加了抗干扰能力,实现了在没有人为干扰下可以自己实现直立和平衡。

With the rapid development of science and technology,there are more and more kinds of robots,among which self-balancing robots have obvious advantages over wheeled robots in control,production economy,function expansion and other aspects.STM32 MCU is the basic part of the robot,and the Angle and acceleration data of the robot body are collected by MPU6050 gyroscope module,and the attitude of the balance robot is detected.The speed data of the robot is fed back to the processor through hall sensor.After the processor analyzes and processes,the left and right motor speeds are adjusted to maintain the balance of the robot.After our test results show that the control system of the self-balancing robot can be realized,and on the basis of the ordinary balancing robot,we also increase the anti-interference ability,and realize the upright and balanced without human interference.