Design And Implementation Of Double-Wheeled Self-Balancing Vehicle Based On STM32

The increasing development and research of robot related fields provide hardware technology and theoretical basis for robot research,which makes it widely used in many fields.The double-wheeled mobile robot is a kind of robot which has no auxiliary wheels,only driving wheels,and can rotate in situ and turn in any radius by using differential drive control.Thanks to its simple overall mechanical structure and high flexibility,it has been widely used in today's social life and scientific research and exploration,and has important research value.This paper focuses on the design and implementation of double-wheeled self-balancing vehicle:In this paper,a single inverted pendulum model is established for the characteristics of the double-wheeled self-balancing vehicle,and the stable balance conditions of the vehicle are obtained by analysis,that is,the attitude information of the vehicle and the acceleration and deceleration control of the wheels are needed.In the acquisition of attitude information,the characteristics of gyroscope and accelerometer are analyzed,the filtering fusion of the acquired data is proposed,and the Kalman filter is designed to obtain more accurate and smoother attitude information.In the process of controlling the acceleration and deceleration of the wheel,through the modeling of the motor,it is concluded that the self-balancing vehicle needs to introduce feedback to control the balance,so as to introduce and analyze the PID algorithm,and design the PID controller that meets the needs of this paper.In this paper,through the analysis of the functional requirements of the self-balancing vehicle,the corresponding design is carried out on the hardware and software.In terms of hardware,the minimum system composed of STM32 chip is determined.According to the specific requirements,the power module,attitude detection module,encoder module,motor drive module and wireless communication module are designed.In software,Kalman filter and PID controller are designed.Finally,through the test of the main modules in the self-balancing vehicle,it is verified that it can work normally,and then through the debugging of the whole vehicle,the corresponding control of the self-balancing vehicle is verified,and the expected effect is achieved.