Attitude Control of Two Wheeled Self-balancing Vehicle
This paper mainly introduces the STM32 as the development platform of the two wheeled balancing car, and successfully developed a car model. Firstly, the paper studies the overall design scheme and the basic working principle of the car system. Secondly, the control flow of the software system of the two wheeled balancing car is deeply studied, and the double closed loop control of DC motor speed position is adopted to realize the normal operation of the car. Then, in the process of debugging, the three parameters of the virtual decomposition of the car system (the vertical ring, the speed loop, the steering ring) were tested respectively. In the end, the prototype of the two wheeled balancing car is debugged, and the running test is carried out for the obstacle free and the obstacles. The experimental results show that the two wheeled balancing car can be operated stably, and can realize the basic function.
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