Research On Two-wheeled Self-balance Vehicle Based On QP Framework

Two-wheeled self-balance vehicle is a kind of wheeled robot based on the principle of inverted pendulum.At home and abroad have a lot of attention to its research,the vehicle also has made considerable development in the field of traffic,and is often used as a platform for control algorithm research.In this paper,two-wheeled self-balance vehicle using ARM core STM32 microprocessor,through the gyroscope and accelerometer of MPU6050 to collect data,and then through the Kalman filter algorithm processing data to get the slope of the vehicle,through PID control,output PWM wave to control code Device,so that two-wheeled self-balance vehicle to achieve dynamic balance.The Quantum Platform(QP)is a software framework for real-time embedded systems.The QP is a lightweight,open source,hierarchical state machine-based,event-driven platform.QP includes four parts: event processor(QEP),lightweight event-driven framework(QF),task scheduling micro kernel(QK)and real-time trace debugger(QS).QP enables the development of clearly structured embedded applications(using C or C ++ language).This dissertation mainly researches on the development of two-wheeled self-balance vehicles based on QP quantum platform,mainly including porting the QP embedded system framework to the STM32 micro-controller so that the two-wheeled self-balance vehicles can achieve dynamic balance and the relevant data such as angles collected will be displayed on the vehicle's OLED display screen.In the course of the study,I mainly studied the QP quantum platform,analyzed and studied the source code of QP,completed the porting of the QP framework on the STM32 micro-controller,mastered the programming method of the QP framework on the STM32,and two-wheeled self-balance vehicle development.This article first briefly introduced the situation of two-wheeled self-balance vehicle andQP embedded system framework,and then described the research status and significance of this research.Then,used technologies were described in detail,including the QP embedded system framework and its related components,and the development of two-wheeled self-balance vehicle.Then,it elaborates the concrete realization of porting QP embedded system framework to STM32 and the realization of two-wheeled self-balance vehicle based on QP quantum platform.At the end of the dissertation,the content introduced above is summarized and discussed how to further research and improve the research content.In the specific implementation,I ported the QP framework to the STM32,and designed and implemented the state machines for the function of the balance,speed,turn control and the function of display the related data such as the vehicle's angle.