两轮自平衡小车控制系统设计

Design of Control System for Two-Wheeled Self-Balancing Car

摘要: 两轮自平衡小车因其占用面积小、结构简单、灵活性高等特点，已经被应用于生活代步、安保等相关领域。本文从自平衡小车平衡性的角度出发，采用STM32F103C8T6控制器，设计出PID控制器来满足对小车自身平衡的基本控制，设计了卡尔曼滤波器来优化姿态传感器MPU6050的输出数据，以确保小车获取的姿态信息的准确性，设计了超声波测距模块实现小车的避障功能。然后完成了系统设计方案，进行了器件选型，并完成硬件设计。最后进行了软件设计，编写并测试了各模块程序，成功搭建出完整平衡小车的控制模型。整机测试结果表明该系统设计能很好地完成平衡小车的自平衡和避障功能。

Abstract: The two-wheeled self-balancing car has been used in life mobility, security and other related fields due to its small footprint, simple structure and high flexibility. From the point of view of self-balancing car balance in this paper, the STM32F103C8T6 is adopted, a PID controller is designed to meet the basic control of the car’s own balance, a Kalman filter is designed to optimize the output data of the attitude sensor MPU6050 to ensure the accuracy of the attitude information obtained by the car, and the ultrasonic distance measuring module is designed to realize the obsta-cle avoidance function of the car. Then the system design scheme is designed, the device selection is performed, and the hardware system is designed. Finally, the software system is designed, each module program was written and tested, and the control model of the complete balance car was successfully built. The test results show that the system design can complete the self-balancing and obstacle avoidance function of the balancing car.