基于嵌入式的自平衡车理论研究和模型建立  

Theoretical Research and Model Establishment of Self-balancing Vehicle Based on Embedded System

作　　者：陈元威 CHEN Yuanwei(Guangdong Technology College,Zhaoqing 526000,China)

机构地区：[1]广东理工学院,广东肇庆526000

出　　处：《仪表技术》2023年第3期75-76,80,共3页Instrumentation Technology

基　　金：广东理工学院“创新强校工程”科研项目(2019GKJZK018)。

摘　　要：从嵌入式自平衡车理论出发,阐明了自平衡车数学模型的建立和设计思路。以STM32F103C8T6为主控单元,通过控制相关传感器实时采集小车姿态信息,再送至主控单元处理,通过PID控制系统调整,输出可调的PWM波形以控制左右两个电机的转动,实现自平衡车的自平衡等相关功能。基于PID控制原理,介绍了自平衡车的PID控制设计过程,为实物设计打下理论基础。Based on the theory of embedded self-balancing vehicle,the establishment and design of mathematical model of self-balancing vehicle are expounded.With STM32F103C8T6 as the main control unit,the vehicle attitude information is collected in real time by controlling relevant sensors,and then sent to the main control unit for processing.Through adjustment of the PID control system,the adjustable PWM waveform is output to control the rotation of the left and right motors,so as to realize the self-balancing and other related functions of the self-balancing vehicle.Based on the principle of PID control,the design process of the PID control of self-balancing vehicle is introduced in order to lay a theoretical foundation for the physical design.

关 键 词：主控单元 自平衡 模型建立 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]