基于单片机的两轮自动平衡小车系统的设计  

Design of Two-wheeled Automatic Balance Trolley System Based on Single Chip Microcomputer

作　　者：杜丽敏[1] 王岩[1] DU Limin;WANG Yan(College of Electronic Information Engineering, Changchun University, Changchun 130022, China)

机构地区：[1]长春大学电子信息工程学院,长春130022

出　　处：《长春大学学报》2020年第12期19-24,38,共7页Journal of Changchun University

摘　　要：通过对倒立摆模型的受力分析,使两轮小车保持自平衡运行状态。硬件上采用STM32F103ZET6单片机为核心控制器,利用MPU6050检测小车的速度和加速度,选择L298N驱动两个两相直流电机,采用霍尔测速码盘获得电机的转速,通过电磁检测电路实现电磁轨迹跟踪。软件上采用PI和PD构成串级控制算法,MPU6050采集到的小车姿态数据经卡尔曼滤波进行数据处理。最终实现了平衡车的稳定控制,完成了小车直立和行走功能。Through the stress analysis of the inverted pendulum model,the two-wheeled trolley is kept in self-balance running state.As for software,STM32F103ZET6 MCU is adopted as the core controller,MPU6050 is used to detect the speed and acceleration of the trolley,L298N is selected to drive two two-phase DC motors,Hall velocity measurement dial is used to obtain the speed of the motor,electromagnetic detection cicuit is used to realize electromagnetic track tracking.As for hardware,PI and PD are used to construct cascade control algorithm,Kalman filter is used to process is used the trolley attitude data collected by MPU6050.Finally,the stability control of the balanced trolley is realized,and the upright and walking functions of the trolley are completed.

关 键 词：两轮自动平衡小车 STM32F103ZET6 MPU6050 串级控制器 卡尔曼滤波 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]