基于 STM32 的两轮自平衡车控制系统设计 Control system design of two wheel self balancing vehicle based on stm32 内容摘要本论文主要研究两轮自平衡车控制系统的设计与实现。两轮自平衡车的机械结构简单，直立行驶的方式赋予灵活的操控方式，能在不同的场景中投入使用，如日常生活的代步、工业生产特殊搬运需求等等。其控制系统的相关算法和相关理论具有广阔的应用前景。本文以 STM32 单片机为主控芯片，提出了系统设计方案，讲解两轮自平衡车控制系统的需求、框架和设计思路。然后对需要硬件进行选型和电路设计，并且对系统进行软件开发。通过两轮平衡小车的姿态分析并解算后，运用 PID 算法的 PD、PI、P 算法对两轮平衡车的直立环、速度环和转向环进行控制。并且使用蓝牙无线通讯技术，实现两轮自平衡小车的无线操控功能，实现其控制便捷性。最后对系统进行调试和测试，证明来该两轮平衡车控制系统的可行性与稳定性。关键词：两轮自平衡车 控制系统 STM32 单片机 PID 算法 蓝牙无线通讯AbstractThis paper mainly studies the design and implementation of a two-wheel self-balancing vehicle control system. The mechanical structure of the two-wheel self-balancing car is simple, and the upright driving mode gives flexible control methods, which can be put into use in different scenarios, such as daily life mobility, special handling requirements for industrial production, etc. The related algorithms and related theories of its control system have broad application prospects.This article takes STM32 microcontroller as the main control chip, puts forward a system design plan, and explains the requirements, framework and design ideas of the two-wheel self-balancing vehicle control system. Then select the required hardware and circuit design, and software development of the system. After analyzing and solving the attitude of the two-wheel balancing car, the PD, PI, and P algorithms of the PID algorithm are used to control the upright ring, speed ring, and steering ring of...
