摘要
针对两轮自平衡车的多变量、非线性、本质不稳定、高耦合的运动控制特点,提出了利用STM32控制两轮平衡车系统方案,通过相关控制算法来对其进行平衡控制。其主要由主控MCU模块、姿态测量模块、蓝牙通讯模块、直流电机模块和电源模块组成。姿态测量模块将测量的数据传送给主控MCU模块,通过卡尔曼滤波算法对采集的数据处理得到小车姿态信息,然后应用PID算法进行处理,将处理的控制命令发送给直流电机的驱动模块,驱动模块直接控制直流电机的转速,产生向前或向后的加速度,来达到小车的自平衡。实验证明其工作性能良好,实现了其设计目标。
The two-wheeled self balancing vehicle is multivariable,nonlinear,unstable and high coupling in its motion control. A plan to control the two-wheeled balancing vehicle based on STM32 is put forward to achieve balance control by relevant control algorithm. It is mainly composed of main control MCU module, attitude measurement module, Bluetooth communication module, DC motor module and power module. The attitude measurement module measures data transmitted to the main control module MCU. Vehicle attitude information is gained from data processed through the Kalman filter algorithm. The PID algorithm is applied to process control commands to send to the DC motor drive module. The driver module directly controls the speed of DC motor,produces forward or backward acceleration to achieve self balancing of the vehicle. It is proved by experiment that the work performance is good and the design goal is achieved.
出处
《北京信息科技大学学报（自然科学版）》
2017年第6期74-78,共5页
Journal of Beijing Information Science and Technology University
