ATTITUDE CONTROL OF TWO WHEELED SELF-BALANCING VEHICLE
DOI:
https://doi.org/10.53555/eijse.v3i4.125Keywords:
Two wheeled self- balancing car, STM32 MCU, balance control, PID controlAbstract
This paper mainly introduces the STM32 as the development platform of the two wheeled balancing car, and successfully developed a car model. Firstly, the paper studies the overall design scheme and the basic working principle of the car system. Secondly, the control flow of the software system of the two wheeled balancing car is deeply studied, and the double closed loop control of DC motor speed position is adopted to realize the normal operation of the car. Then, in the process of debugging, the three parameters of the virtual decomposition of the car system (the vertical ring, the speed loop, the steering ring) were tested respectively. In the end, the prototype of the two wheeled balancing car is debugged, and the running test is carried out for the obstacle free and the obstacles. The experimental results show that the two wheeled balancing car can be operated stably, and can realize the basic function.
References
. Xu Guohua, Tan min. Development status and trend of mobile robot [J]. robot technology and application, 2001,14 (3): 7-14.
. Hongkong. Http://www.segway.com/ Technology Co., Ltd.
. Ruan Xiaogang, Liu Jiang, Di Haijiang, et al. Two wheeled self-balancing robot system design, modeling and LQ control [J] Electronic technology, 2008,18 (4); 57-60.
. Cheng Gang. Study on the design of two wheeled self balancing vehicle and the stability control of large area [D]. Xi'an: Xi'an Electronic and Science University, 2009
. Ruan Xiaogang, dynamic modeling and balance control of two wheeled self-balancing robot [D]. Beijing: Beijing University of Technology, 2006
. Huo Liang. Research on Key Technologies of two wheeled self-balancing electric vehicle [D] Harbin: Harbin Engineering University, 2010
. Yao Wenhao. Research on motion control of self-balancing two wheeled electric vehicle [D]. master thesis.2010
. Sun Jun. Modeling and Simulation of electromechanical control system for balancing vehicle [J] mechanical and electronic.2010
. Qin Yong, Yan Jihong, Wang Xiaoyu, Zhao Jie, the research of robot motion control of two wheeled self-balancing. Journal of Harbin Institute of Technology.2008,40 (5): 721-726
. Army, two wheeled self-balancing vehicle based on PID and LQR control [D]. Southwest Jiao Tong University, 2010.6
. Liu Jiang. Design and control of two wheeled self-balancing robot system [D]. Beijing University of Technology.2012.7
. Rodrigo Da Silva Guerra, Kalman Tutorial for Balancing Robot[J].2008 (04) (Filter)
. Dong Tao, Liu Jinying,, design and manufacture of intelligent car based on MCU control [J]. computer measurement and control, 2009 (02)
. Zhao Lijun, Tong Qinzhi. Electric vehicle structure and principle of [M]. Peking University press, 2012.7
. STMMicroelectronics Corporation.STM32 Reference manual. 2011.01.Rev12 InvenSense Corporation.MPU-6000/MPU-6050 Product Specification.2011.Rev3.2
. Liu Jun. An example STM32[M]. Beihang University, 2011.4
. Liu Jinkun. Intelligent control. Beijing: Publishing House of electronics industry, 2005.1-2
. Zhang Dexi, Zhao Leisheng, MATLAB language programming tutorial (Second Edition), China Railway Press, 2010
. Li Fanhong, two wheeled self balancing car system, [Master Thesis]. Beijing: Beijing Jiaotong University, 2010
. Di. Study on some problems of Haijiang two wheeled self balancing robot [D]. master degree thesis, 2008
Downloads
Published
Issue
Section
License
Copyright (c) 2021 EPH - International Journal of Science And Engineering (ISSN: 2454 - 2016)
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
