两轮自平衡车控制系统设计与实现

Design and Implementation of a Control System for a Two-Wheeled Self-Balancing Scooter

摘要:

基于STM32单片机设计并实现了一款具备无线控制功能的两轮自平衡小车。该平衡小车搭载陀螺仪与加速度计实时获取小车俯仰角,通过OLED进行显示。小车使用蓝牙串口通信,用户可以在上位机控制界面实现对小车的运动控制及PID参数调节。小车底盘采用铝合金材质,通过电机支架与电机相连,电机驱动模块驱动车轮行进,提供强大动力和稳定结构支撑。综合实时数据采集和指令控制,结合STM32单片机的运算能力,设计直立环、速度环、转向环三闭环PID控制算法,解决小车静态平衡、运动稳定等核心问题,实现小车的自主平衡、匀速行驶、转向调节等功能。测试结果表明,该平衡小车有一定的抗干扰能力、响应灵敏、运行稳定,姿态监测精准,无线控制可靠,兼具实用性与创新性,为两轮自平衡设备的设计与优化提供了一定的理论参考和实践借鉴。

Abstract:

A two-wheeled self-balancing vehicle with wireless control capabilities has been designed and implemented using an STM32 micro-controller. The vehicle is equipped with a gyroscope and an accelerometer to measure its pitch angle in real time, which is displayed on an OLED screen. The vehicle utilises Bluetooth serial communication, allowing users to control its movement and adjust PID parameters via a host computer interface. The chassis is constructed from aluminium alloy and is connected to the motors via motor brackets. The motor drive modules power the wheels, providing robust propulsion and structural stability. By integrating real-time data acquisition and command control with the computational capabilities of the STM32 micro-controller, three closed-loop PID control algorithms—for uprighting, speed and steering—have been designed. These address core issues such as static balance and dynamic stability, enabling functions including autonomous balancing, constant-speed travel and steering adjustment. Test results indicate that this self-balancing vehicle possesses a certain degree of interference resistance, responsive behaviour, and stable operation, with precise attitude monitoring and reliable wireless control. Combining practicality with innovation, it provides valuable theoretical references and practical insights for the design and optimization of two-wheeled self-balancing devices.