STM32平衡车理论分析和模型建立  

Theoretical Analysis and Model Establishment of STM32 Balancing Car

作　　者：秦迎春[1] 柳贵东 朱嘉骏 郭喜龙 刘汉斌 Qin Yingchun;Liu Guidong;Zhu Jiajun;Guo Xilong;Liu Hanbin(School of Electrical and Information Engineering,Guangdong Baiyun University,Guangzhou 510450)

机构地区：[1]广东白云学院电气与信息工程学院,广州510450

出　　处：《现代计算机》2022年第6期107-111,共5页Modern Computer

基　　金：2019年广东省教育厅特色专业电气工程及其自动化项目(CXQX-ZL201901)。

摘　　要：基于STM32实现平衡车的设计,是以角加速度仪和陀螺仪来对STM32控制的平衡车进行倾斜角度和角加速度的监测,然后把数据迅速反馈给SMT32F103RCT6芯片,并通过卡尔曼滤波和PID算法演算后得出相应的数据,继而向驱动电动机发送执行指令,让STM32平衡车产生前进或后退的加速度来达到整个小车体前后的平衡[1],这里给出基于STM32平衡车的理论分析和模型建立。Based on STM32 to realize the design of balancing car, it is to use angle accelerometer and gyroscope to monitor the real-time tilt angle and angular acceleration of balancing car controlled by STM32, and then feedback the data to SMT32F103RCT6 chip quickly, after getting the corresponding data through the Kalman filter algorithm and Pid Algorithm, the STM32 balancing car will have the acceleration of forward or backward to achieve the balance of the whole car body, the theoretical analysis and model building based on STM32 balancing car are given here.

关 键 词：STM32 平衡车 平衡过程 受力分析 

分 类 号：U48[交通运输工程—载运工具运用工程]