论文题目：基于单片机的平衡小车的设计摘要：两轮自平衡车在我们的生活中已经是越来越常见，他的一个极其突出的特性就是不稳定，与他很类似的一个模型就是倒立摆。我们必须知道倒立摆的状态，然后对他进行干扰才能使它保持稳定状态。本论文所研究的方案就是基于这种原理，用陀螺仪和加速度计来获取到平衡车的当前状态，然后控制电机来作出相应的干扰，来让小车保持平衡。整个系统设计完成后，小车可以实现自主平衡功能。并且，在人为加入适量干扰后小车也能够自主调整并迅速恢复至稳定状态。系统还保留了大部分接口，可以进行二次开发和升级，包括手机蓝牙控制、wifi控制、视觉导航、轨迹跟踪等。关键词：加速度；PID算法；陀螺仪；两轮自平衡小车Abstract:tworoundsofself-balancingvehicleisalreadymoreandmorecommoninourlife,he'saveryprominentfeatureisunstable,andheisverysimilartoamodelofinvertedpendulum.Weneedtoknowthestatusoftheinvertedpendulum,andthentohisinterferencetokeepitstable.Mentionedinthepresentpaperresearchplanisbasedontheprincipleofusinggyroscopeandaccelerometertogettothecurrentstateofthebalanceofthecar,andthencontrolthemotortomakecorrespondinginterference,toletthecarbalance.Aftercompletionofthewholesystemdesign,thecarcanachievebalancefunctionindependently.And,inhumanafteraddingsuitableamountofinterferenceThecarcanalsoindependentadjustmentandquicklyreturntoastablestate.Systemalsohaskeptmostoftheinterface,canundertakesecondarydevelopmentandupgrading,includingmobilephonebluetooth,wifi,visualnavigation,pathtracking,etc.Keywords:Accelerometer；PIDalgorithm；Gyroscope；Balanceofthecar目录1绪论.............................................................................................................................21.1自平衡小车的研究意义......................................................................................11.2课题研究的主要任务.................................Error:Referencesourcenotfound2原理分析与关键技术.................................................................................................22.1原理分析..............................................................................................................22.2关键技术..............................................................................................................22.2.1系统建模.......................................................................................................32.2.2姿态检测.......................................................................................................42.2.3控制算法.......................................................................................................43系统硬件设计...........................................................................................................103.1物理架构............................................................................................................133.2元器件选型........................................................................................................203.2.1微处理器.......................................................................................................33.2.2陀螺仪与加速度计.......................................................................................43.2.3电机驱动.......................................................................................................43.2.4编码器...........................................................................................................43.2.5...
