| 基于STM32的两轮自平衡小车控制系统设计 |
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| 引用本文： | 季鹏飞,朱燕,程传统,杜晓.基于STM32的两轮自平衡小车控制系统设计[J].电子科技,2014,27(11):96-99,105. |
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| 作者姓名： | 季鹏飞 朱燕 程传统 杜晓 |
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| 作者单位： | (盐城师范学院 物理科学与电子技术学院,江苏 盐城 224002) |
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| 基金项目： | 江苏省大学生创新创业计划省级重点基金资助项目 |
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| 摘 要： | 介绍了一种采用STM32F103C8T6单片机和数字运动传感器MPU-6050等设计的两轮自平衡小车。并利用卡尔曼滤波器算法融合陀螺仪和加速度计信号,计算出小车倾角和角速度的最优估计值,利用数字PID算法控制驱动电机的PWM信号实现两轮小车的自平衡控制。实际测试表明,设计的两轮小车可稳定地实现自平衡控制及简单的遥控运动功能。
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| 关 键 词： | 卡尔曼滤波 数据融合 自平衡 两轮 STM32 |
Design of Self-balancing Two-wheeled Vehicle Control System Based on STM32 |
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| JI Pengfei
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ZHU Yan
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CHENG Chuantong
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DU Xiao.Design of Self-balancing Two-wheeled Vehicle Control System Based on STM32[J].Electronic Science and Technology,2014,27(11):96-99,105. |
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| Authors: | JI Pengfei ZHU Yan CHENG Chuantong DU Xiao |
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| Affiliation: | (School of Physical Science and Electronic Technology,Yancheng Teachers University,Yancheng 224002,China) |
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| Abstract: | This paper presents a design of self-balancing two-wheeled vehicle based on a STM32 F and a digital motion sensor（ MPU-6050）. Kalman-filtering algorithm is used to fuse the gyroscope and accelerometer signal in order to get the optimal estimate of vehicle attitude angle and angular velocity. The self-balancing two-wheeled vehicle control system is achieved by digital PID algorithm which controls PWM signals of two DC motors. Experiments show that the two-wheeled vehicle can stably achieve self-balancing and simple movement under remote control. |
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| Keywords: | Kalman-filtering data fusion self-balancing two-wheeled STM32 |
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