基于STM32的平衡车系统设计

(论文)摘 要本文主要介绍了基于 STM32 芯片的平衡车系统的设计方案，任务目标为能够自主站立的两轮平衡车系统，并在站立的前提下实现直立运行，由于ARM 嵌 入 式 微 处 理 器 有 低 成 本 、 高 性 能 等 优 点 。 所 以 本 系 统 采 用STM32F103 作为主控芯片，并在此基础上增加了各种功能模块来组成整个硬件系统，包括单片机最小系统，电源稳压模块，直流电动机驱动模块以及传感器模块，通过采集车体姿态和速度信息来控制车体的姿态，采用 PID 控制算法控制车体姿态。利用蓝牙模块将车辆整体数据上传到控制器端，然后在控制器界面及 OLED 屏上显示小车当前状态数据信息，再分别根据现有的调试工具条件下进行软件和硬件调试分析，对应的调试方法分别做了基本介绍。最后以调试测量得到的数据作为参考，对整个平衡车系统做了修改，基本上达到了设计的要求。- III -(论文)AbstractThis paper mainly introduces the design scheme of the balance car system based on STM32 chip, which is designed with the task of two wheel self balance car being able to stand and run stably independently. The ARM microprocessor platform has the advantages of low cost and high performance. The system uses STM32F103 as the main control chip, and on this basis, a variety of interface circuit board modules are added to constitute the whole hardware system, including SCM minimum system, DC motor drive module, power management module and speed measurement module. The vehicle attitude is controlled by collecting vehicle attitude and speed information, and the vehicle attitude is controlled by PID control algorithm. The whole vehicle data is uploaded to the controller by using Bluetooth module, and then the current status data information of the car is displayed on the controller interface and OLED screen. Then, according to the software and hardware debugging under the condition of existing debugging tools, the corresponding debugging methods are introduced. Fi...