Search

The two-wheel self-balancing vehicle system is a system which is similar to an inverted pendulum, and holds multivariable, nonlinear, strong coupling characteristics. For the complexity of the vehicle control system, we designed a self-balancing vehicle system by using STM32F103C8T6 microprocessor as the main controller, and MPU-6050 sensor as the attitude detection unit. Because gyroscope and accelerometer exist measurement noise and random drift error, Kalman filter algorithm is used to realize data fusion of the gyroscope and the accelerometer. In this way the sensor measurement error is compensated and the best estimates of the vehicle inclination and angular velocity are obtained. A double closed loop control is established with the feedback of optimal attitude angle and vehicle speed. PID control is used to achieve self-balancing control of the vehicle system. The hardware and software are also designed. By commissioning and operation the self-balancing vehicle can achieve stable self-balancing control. [ABSTRACT FROM AUTHOR]