基于嵌入式ARM的两轮自平衡代步车系统的设计

摘要

基于uCOS-II嵌入式系统、STM32控制器和MEMS传感器等设计了两轮自平衡代步车系统.该系统由硬件和软件2部分组成.硬件系统由处理器模块、电机驱动模块、姿态检测模块、蓝牙通信模块、电源模块和手机APP终端组成.其中处理器模块用于平衡车的PID控制以及数据融合算法的处理,电机驱动模块控制电机的转向和转速,姿态检测模块对车身加速度和角速度数据实时采集,蓝牙通信模块实现和手机APP端之间的通讯.软件系统由硬件驱动程序和用户应用程序组成.测试结果表明:当人站在平衡代步车上时,平衡代步车能实现自平衡;当身体往前倾(或后仰)时,平衡代步车能实现前进(或后退);当手把往右偏(或左偏)时,平衡代步车能实现右转(或左转).该系统具有动态品质好,结构简单,易实现等优点,具有较好的工程实用价值.%Based on uCOS-II embedded system, STM32 controller, and MEMS sensor, a two-wheeled self-balancing vehicle system composed of hardware and software was designed.The hardware system was composed of processor module, motor drive module, attitude detection module, bluetooth communication module and power-supply module.The processor module PID control of self-balancing vehicle system, and process of data fusion algorithm.The motor drive module control the motor rotation and speed.The Bluetooth communication module was adopted to achieve communication with cellular phone APP terminal.The attitude detection module was used to collect data of acceleration and angular velocity of vehicle system in real time.Hardware driver and user application consisted of the software system.The results showed that when a person stood on the balancing vehicle, it could achieve self-balancing;when the body lent forward or backward, it could go ahead or back off;when the handle deflected to the right or left, it could achieve rightward rotation of lefthanded rotation.The self-balancing vehicle system is of good dynamic quality, simple structure, easy implementation, and has good engineering practical value.