基于STM32单片机的双轮小车近静态动平衡控制统.doc

I 基于 STM32 单片机的双轮小车近静态动平衡控制统 The Design ofT he Nearly S tatic D ynamic B alance T wo W heeled C ar Control System Based on T he S TM32 摘要本文介绍以 STM32F103RCT6 单片机为核心的智能自平衡小车技术的研究, 本系统分为单片机最小系统,PID 自动反馈调节,驱动控制电路。通过 MPU-605 0 传感器采集到姿态感知信号传给STM32F103RCT 6单片机,经单片机PID反馈调节, 发出命令控制驱动模块 L298N ,驱动 2台直流电动机进行相应的动作,最终使得小车能够平稳站立。为了提高平衡效果,本文引入了卡尔曼滤波器,在调试中应注意初始角度的矫正和PID的参数调节。本设计现能实现小车在正负2度内平衡, 时超超过 4S,在小车的控制方面还有待改进。关键词: STM32F103RCT6 单片机姿态检测卡尔曼滤波 PID 控制电机驱动 Abstract In this paper, we introduce STM32F103RCT6 single-chip puter as the core of intelligent since the balance of the car technology research, this system is divided into single chip puter minimum system, PID automatic feedback adjustment, the drive control circuit. By MPU -6050 sensor collected posture perception to STM32F103RCT6 MCU signals, the microcontroller PID feedback control, mand control L298N drive module, drive two dc motor for the corresponding action, eventually making the car can stand order to II improve the effect of equilibrium, this paper introduced the Calman filter, in needing attention in debugging the parameters initial angle correction and PID regulation. This design is to achieve car in the positive and negative balance within 2 degrees, super than 4S, in control of the car has to require improvement. KeyWord: STM32F103RCT6 single-chip puter Posture perception Kalman filter PID controller motor drive II 目录中英文摘要..................................................................................................................................... 1 1引言............................................................................................................................................. 1 ............................................................................................................. 1 2整体方案设计............................................................................................................................. 1 系统整体设计.......................................