摘要随着中国在自动控制技术方面的飞速发展，自动化技术已经普及并应用到全国的各个领域和行业。智能小车也是自动控制技术的重要发展成果之一。在日益严重的大气污染、能源短缺、交通堵塞的环境问题上，人们越来越需要轻巧的、小型的、节能的代步工具。因此，两轮平衡小车的研究越来越成为人们关注的话题。84450

本文主要介绍的是以STM32为开发平台的两轮平衡小车，并成功研制出了一台小车模型。论文首先研究了小车系统的总体设计方案和基本工作原理，对关键设备进行了选型，确定主要硬件型号。然后深入研究了两轮平衡小车的软件系统的控制流程，采用了直流电机速度位置双闭环控制来实现小车的正常运行。接着在调试过程中分别对小车系统虚拟分解出的三个环节（直立环、速度环、转向环）分别进行了参数的整定和实际状态的测试，效果良好。最后对两轮平衡小车样机进行了调试，并进行了无障碍物和有障碍物的运行试验。实验结果表明，两轮平衡小车操作稳定，能够实现基本的运行功能，达到预期要求。

毕业论文关键词：两轮自平衡小车；STM32单片机；平衡控制；PID控制

Abstract With the rapid development of China in the field of automatic control technology, automation technology has been popularized and applied to various fields and industries in the country。 Intelligent car is also one of the important achievements in the development of automatic control technology。 In the increasingly serious air pollution, energy shortages, traffic jams of the environmental problems, people more and more need of lightweight, small, energy-saving means of transport。 Therefore, the research of the two wheeled balancing car has become a topic of concern。

In this paper, the STM32 is introduced to the development platform of two wheeled balancing car, and successfully developed a car model。 Firstly, the overall design scheme and the basic working principle of the vehicle system are studied, and the key equipment is selected, and the main hardware model is determined。 Then, the control flow of the software system of the two wheel balancing car is studied deeply, and the double closed-loop control of DC motor speed is adopted to realize the normal operation of the car。 Then in the debugging process, respectively, the car system virtual decomposition of the three links (vertical ring, speed ring, the steering ring) were carried out the parameters of the whole set and the actual state of the test, the results are good。 Finally, the prototype of the two wheeled balancing car is debugged, and the running test of the obstacle and the obstacle are carried out。 The experimental results show that the operation of the two wheel balancing trolley is stable, and the basic operation function can be achieved。

Keywords: two wheel self balance car；STM32 single chip microcomputer；  balance control；PID control

目录

第一章 绪论 1

1。1研究背景及意义 1

1。2国内外研究现状 2

1。2。1国外研究现状 2

1。2。2国内研究现状 3

1。3两轮平衡小车的研究现状分析 4

第二章 两轮自平衡小车的基本原理与硬件设计 5

2。1两轮平衡小车平衡的基本原理 5

2。2两轮平衡小车设备的选型 6

2。2。1主板的解析 6

2。2。2锂电池及充电方式