Computer Aided Design of Two-wheel Self-balancing Vehicle Based on STM32

Abstract

Two-wheeled vehicle is an essentially unstable robot, which has the characteristics of multi-variable, non-linear, strong coupling, time-varying, and parameter so fun certainty. In this paper, the two-wheeled self-balancing vehicle system based on STM32 is designed: (1) In terms of hardware, two reduction motors with parallel distribution at both ends of the uniaxial are used as mobile driving devices. STM32F103C8T6 and MPU6050 are used for real-time attitude acquisition, and the attitude data are decoded by Digital Motion Processor (DMP). (2) In terms of software, the cascade PID is adopted. Based on the obtained attitude data, the controller STM32 calculates the reasonable pulse frequency and pulse number through the PID control algorithm, so as to realize the real-time dynamic control of the two reduction motors and maintain the self-balancing of the car. In addition, based on Android mobile platform and Bluetooth data transmission technology, control mobile APP to complete the real-time control of the car system.