摘要：两轮自平衡小车具有重要的应用价值与理论研究意义。与以往的两轮平衡小车相比，本文中的小车最大特点是前后两轮直立车。本文中针对两轮自平衡小车平台，设计了三种路径规划控制方案。建立车模运动模型，利用MATLAB软件对系统模型进行仿真，得到相应的仿真图形。最后，制作了小车的原型，并给予了初步验证。经过多次的实验表明，车身能够平稳的直立，同时能够沿着赛道快速平稳地运行。52807
平衡车系统分为5个模块：STM32微处理器模块、电机驱动模块、姿态传感器模块、路径检测模块、以及蓝牙模块。使用PID控制算法来处理实现车身的平衡，前进和转向功能。小车可以通过蓝牙模块接收手机发送的指令，以此来控制小车动作。
毕业论文关键词：两轮平衡车；PID控制；CCD路径检测；STM32；蓝牙
Design of controlling system about the Smart Two-wheel self-balanced car
Abstract：Two-wheel self-balanced car has important applications and theoretical research.Compared with the previous self-balanced car, the most important feature of the car models in this article is mounted a wheel on the front ,the another wheel is mounted in a rear.This article designed three path planning control program for self-balanced car.Cars sport model was established by using MATLAB software system simulation model to obtain the corresponding simulation graphics.Finally,author made a car prototype, and gave a preliminary motion control verification. After repeated experiments have shown that the car can be smoothly upright while being able to quickly run smoothly along the track.
The system is pided into five modules:STM32 microprocessor module, motor drive module, attitude sensor module, path detection module, and Bluetooth module.Using PID control algorithm to process in order to achieve body balance, forward and steering functions.Car can receive command from a phone, in order to control the operation of the car.
Key Words：Two-wheel self-balanced car;PID control;CCD path detection;STM32;Bluetooth
目录
1 绪论
1.1 智能两轮平衡小车技术概处理器模块
1.1.1 智能两轮平衡小车技术发展背景及意义 1
1.1.2 智能两轮平衡小车技术的应用和分类 1
1.2 智能两轮平衡小车控制方法的研究现状及发展趋势 2
1.2.1 智能两轮平衡小车国外研究现状 2
1.2.2 智能两轮平衡小车国内研究现状 3
1.2.3 智能两轮平衡小车的发展趋势 3
1.3 本课题的主要内容 4
2 智能两轮平衡小车系统的硬件构成 6
2.1 STM32微处理器模块 6
2.2 电机驱动模块 6
2.2.1 PWM隔离电路 6
2.2.2 升压电路 7
2.2.3 MOS驱动电路 8
2.3 MPU6050姿态传感器模块 9
2.4 线性CCD路径检测模块 10
2.5 蓝牙通讯模块 11
2.6 电源模块 11
3 智能两轮平衡小车系统模型的建立 13
3.1 直立车动力学建模 STM32智能两轮平衡小车控制系统设计+程序+电路图:http://www.youerw.com/zidonghua/lunwen_56823.html