Design And Implementation Of Two-wheel Self-balancing Vehicle Based On STM32

The self-balancing vehicle has a simple structure,flexible control and can adapt to a variety of complex occasions.Its related applications have been put into use in areas such as security and civilian transportation tools.The design and research of self-balancing vehicles,related theoretical algorithms and design ideas can provide new design solutions for self-balancing vehicle applications,and have broad application prospects.This article first mathematically models the self-balancing vehicle.By establishing the instantaneous balance equation of the self-balancing vehicle and linearizing the control motor,the state space model of the self-balanced vehicle is established.The model's observability and controllability were verified by MATLAB.Then from the perspective of the function of the self-balancing car,its hardware is designed and the key modules are selected and calculated to ensure the rationality and scientific design.Algorithm design is the core point and innovation of this article.In this paper,Kalman filtering algorithm is used to filter the gyro and accelerometer signals,so that the self-balancing vehicle attitude information is more accurate.At the same time,according to the instability of the self-balancing vehicle system,the LQR controller is designed and simulated with Simulink.The simulation results show that the algorithm has a good control effect on the attitude of the self-balancing vehicle.Finally,the self-balancing vehicle control platform is set up to debug the selfbalancing vehicle.The debugging results show that this design can achieve the function of self-balancing vehicle well.