基于MPU6050六轴传感器平衡小车的设计

两轮自平衡小车是通过使用陀螺仪、加速度计等常用的姿态传感器来监测车身所处的俯仰状态和状态变化率,经数字控制中心处理与计算,再发出适当的指令给驱动电动机产生前进或后退的加速度,以保持车体前后平衡的状态.本设计选用STM32单片机作为主控制器,用MPU6050六轴传感器和两个陀螺仪传感器来检测车的状态,通过TB6612FNG控制小车的两个电机,让小车不断地处于新旧交替的平衡状态,实现了两轮小车的硬件控制系统.

Design of balance car based on MPU6050 six axis sensors

Two wheel self balancing trolley monitors the pitch state and the rate of state change through the attitude sensors such as gyroscopes and accelerometers,via the digital control center processing and calculation,and then sends the appropriate instructions to the motor driven by the acceleration forward or backward in order to maintain the balance of the body.This project uses STM32 microcontroller as the main controller, detects the status of the car using MPU6050 six sensors and two axis gyroscopes sensors and controls two motors by TB6612FNG,lets the car constantly in a state of balance between the old and the new,thus reals the two wheel car hardware control system.