| With the improvement of living standards,more and more cars are purchased in cities.Traffic jams and air pollution are common in modern urban life,which urgently requires us to use more efficient and environmentally friendly means of transportation.The two wheel self balancing vehicle has the advantages of light,flexible,fast,environmental protection and energy saving,and it also solves the problem of people’s short-distance travel,but also has the advantages of It has a high entertainment,and is more and more popular in our life.However,there are some limitations in the application of the two wheel self balancing vehicle in the market.Firstly,it has higher requirements on the road environment,and it can not be seen in some complicated road environment.In this paper,a controller of two wheel self balancing vehicle based on 32-bit single chip microcomputer of Italian French semiconductor company is designed.The main content includes three parts: model analysis of two wheel self balancing vehicle,peripheral circuit design of control system and fuzzy PID control algorithm.Firstly,based on Newton’s law of mechanics,the mechanical model of the double wheel self balancing car body is analyzed,and the mechanical equation of the car body is obtained.Secondly,the hardware design of the controller is carried out.The hardware system includes the circuit schematic design of the minimum system of single chip microcomputer,attitude sensor module,LCD module,motor driver module,Bluetooth communication module and ultrasonic module.The fuzzy PID control algorithm is adopted.The attitude data is fuzzed,the rule table is designed according to the rule base,the fuzzy control signal is output,then the fuzzy is solved,the controller is designed,and finally the simulation is carried out to verify the feasibility of the algorithm.Finally,the fuzzy PID control algorithm is designed.The attitude sensor transmits the attitude information to the single-chip microcomputer.The single-chip microcomputer performs Kalman filtering on the attitude signal to remove the interference signal.Then the fuzzy PID algorithm automatically adjusts the PID parameters and drives the motor module to achieve the purpose of stable operation of the self balancing vehicle. |
