现代电子技术2016，Vol.39Issue(14)：46-48,3.DOI:10.16652/j.issn.1004-373x.2016.14.013
基于STM32的智能平衡车控制系统设计
Design of STM32-based control system for intelligent balanced vehicle
摘要
Abstract
Design of a STM32⁃based control system for intelligent balanced vehicle is introduced,which uses the gyroscope and accelerometer to get the dip angle and angular velocity of the balanced vehicle,and adopts photoelectric encoder to acquire the speed of the balanced vehicle. The speed control signal and balance control signal are superimposed and then are loaded to the two motors in rear wheels for realizing the stillness and upright walk of the vehicle. Meanwhile,TSL1401 linear CCD is used to obtain the image information of the track,and the center line of the track is got accurately and the controlled quantity of direc⁃tion bias of the vehicle is obtained after the recognition processing of the image. The actual operation results show that intelligent balanced vehicle can keep upright walk,implement steering and autonomous tracing on different paths quickly,and has good adaptability and stability.关键词
STM32F405/平衡车/控制系统/自主寻迹Key words
STM32F405/balanced vehicle/control system/autonomous tracing分类
电子信息工程引用本文复制引用
高正中,龚群英,宋森森..基于STM32的智能平衡车控制系统设计[J].现代电子技术,2016,39(14):46-48,3.基金项目
中国博士后科学基金资助项目（2015T80729）；研究生科技创新基金资助项目 （）
