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提出了一种以STM32微控器为核心的两轮自平衡车设计方案,该方案主要包括STM32微控器外围电路设计,以MPU6050为核心的车体姿态检测电路设计和以PID控制器为核心的软件设计。通过两轮自平衡车样机测试了各硬件部分和软件部分的可靠性和有效性。
This paper presents a design scheme of two-wheeled self-balancing vehicle with STM32 microcontroller as the core. The scheme mainly includes the design of STM32 micro-controller peripheral circuit, the design of vehicle body posture detection circuit with MPU6050 as the core, and the PID controller as the core Software design. The reliability and effectiveness of each hardware part and software part were tested by two self-balancing vehicle prototypes.