摘要两轮平衡小车在近几年中，越来越来成为一个热门的研究对象，并且在市 场上，两轮自平衡小车的热度也慢慢在升高，人们对平衡小车这种视觉观感很 强的特殊机器人的越来越感兴趣，两轮平衡小车，运动灵活，适合携带，很适 合一些特殊的场合，所以在日常生活和一些安全保卫中有着很广泛的前景。两 轮平衡小车是重心在车轴上，且两侧对称的非自然平衡物体，其稳定原理和倒 立摆相似。72257

本文在国内和国外的研究现状的基础上，结合自身的理论知识，设计了一 个两轮平衡车的硬件和软件系统，在本设计中，采用 STM32F103RBT6 单片机作 为本设计的主控芯片，通过使用姿态传感器 MPU6050，对小车的角速度和角度 进行测量，由于单独加速度计和陀螺仪都会有很严重的误差，所以本设计通过 互补滤波进行数据融合，得到比较稳定真是的小车角度值，通过 PID 算法，得 到电机控制量对电机进行控制，使小车能够保持自身的姿态平稳。

毕业论文关键字：平衡小车 MPU6050 STM32

Two-wheel and Self-balancing robot

Abstract In recent years，the two-wheel and self-balancing robot is becoming more and more popular and also is becoming a hot research subject。 And on the market, the two- wheel and self-balancing robot is also to improve the heat, people is also becoming more and more interesting for this self-balancing vehicle which looking very peculiar in appearance。 The two-wheel and self-balancing robot is very flexible and easily carry for people, and the vehicle is good for some special occasions, so the self-balancing robot is very promising in our daliy life and some special occasions such as military occasion。 The center of gravity of the two-wheel and self-balancing robot is on the axle。 The machine is a unnatural balanced object , the principle of the balance is similar with Inverted pendulum。

In this design , I designed a system of the self-balancing robot including hardware and system in the base of summarizing the current research result in the foreign and the domestic 。 In this design I use the STM32F103RBT6 as the MCU , use the sensor of stance MPU6050 as the main sensor。 In this design I use the measure of complementary filter algorithm because of error of the sensor。 By the sensors and the complementary filter, we can get a precise value of angle, using PID and the value of the angle we can control the motor correctly and keep the balance of the robort 。

Key Word：Self-balanced car STM32 MPU6050

目 录

摘 要 I

Abstract II

1 前言 1

1。1 研究的背景和意义 1

1。2 国内外研究现状 1

1。3 设计要求 3

1。4 论文总体安排 3

2 系统原理分析 4

2。1 两轮平衡车机械模型 4

2。2 两轮平衡车平衡原理分析 4

2。3 平衡小车的数学建模