两轮自平衡小车毕业设计04161120(总 24 页)-CAL-FENGHAI.-(YICAI)-CompanyOnel-CAL-本页仅作为文档封面,使用请直接删除两轮自平衡小车的设计摘要最近这几年来,自平衡电动车的研发与商用获得了快速发展。自平衡车具有体积小,运动十分灵活,便利,节能等特点。本文提出了一种双轮自平衡小车的设计方案,机械结构采用了双轮双马达驱动;控制主要采用的是反馈调节,为了使车体更好的平衡,使用了PID 调节方式;硬件上采用陀螺仪 GY521MPU-6050 来采集车体的旋转角度以及旋转角加速度,同时采用了加速度传感器来间接测量车体旋转角度。采用意法半导体 ST 公司的低功耗控制器芯片 stm32 作为主控,采集上述传感器信息进行滤波,分析等操作后进而控制马达的驱动,从而达到反馈调节的闭环,实现小车的自动平衡。系统设计,调试完成后,能够实现各个功能部件之间协调工作,在适度的干扰情形下仍然能够保持平衡。同时,也可以使用手机上的 APP 通过蓝牙与小车通信控制小车的前进和后退以及转弯。关键词:自平衡小车陀螺仪传感器滤波 APPIDesignofTwo-WheelSelf-BalanceVehicleAbstractInthelastfewyears,withthedevelopmentofcommercialselfbalancingelectricvehiclewasdevelopedrapidly.Selfbalancingvehiclehastheadvantagesofsmallvolume,themovementisveryflexible,convenient,energysavingetc..Thispaperpresentsatwowheeledselfbalancingrobotdesign,mechanicalstructureadoptsdoublemotordrive;controlledmainlybythefeedbackregulation,inordertomakethebalanceofthebodybetter,withthePIDregulation;hardwareusinggyroscopeGY521mpu-6050tocollecttherotationangleofthecarbodyandtherotationangleacceleration.Atthesametime,accelerationsensortomeasureindirectlybodyrotationangle.St,thelowpowerconsumptioncontrollerSTM32chipusedasthemaincontrol,collectingthesensorinformationfiltering,analysisbackwardandcontrolmotordrive,soastoachievecloseloopfeedbackregulation,therealizationofthecarautomaticbalance.Systemdesign,debuggingiscompleted,thecoordinationbetweenthevariousfunctionalcomponentscanbeachieved,inthecaseofmoderateinterferencecanstillmaintainabalance.Atthesametime,youcanalsousetheAPPonthemobilephonewiththecartocontrolthecar'sforwardandbackwardandturning.KeyWords:Selfbalancingcarg...