基于stm32的自平衡小车

学术诚信承诺本人郑重声明：所呈交的论文是我个人在导师指导下进行的研究工作及取得研究成果。尽我所知，除了文中特别加以标注和致谢的地方外，论文中不包含其他人已经发表或撰写的研究成果，也不包含为获得佳木斯大学或其他教育机构的学位或证书所使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文中做了明确的说明并表示了谢意。签名：___________日期：____________关于论文使用授权的说明本人完全了解佳木斯大学有关保留、使用学位论文的规定，即：学校有权保留送交论文的复印件，允许论文被查阅和借阅；学校可以公布论文的全部或部分内容，可以采用影印、缩印或其他复制手段保存论文。签名：___________导师签名：___________日期：____________佳木斯大学本科毕业论文（设计）第I页摘要电动平衡车的动力来源于电机，通过控制电机的正反转是平衡车前进和后退，从而达到自平衡的目的。目前市场上的平衡车大多数是依靠人的重心改变来控制车的状态，而本次设计通过在自平衡的基础上加上了自跟随功能和无线遥控功能，实现了平衡车的灵活控制。以平衡车的基本控制原理与自跟随功能的实现和无线遥控功能的实现作为研究目标。首先，对平衡车的基本控制理论进行分析并采用PID算法进行闭环控制，选择MPU6050作为姿态检测传感器，通过卡尔曼滤波对MPU6050的原始数据进行处理后，得到适合系统的姿态信息。然后，使用AltiumDesigner软件画出相应电路图，并完成了PCB制板。最后，通过KeilMDK集成环境进行程序设计，在编译和调试成功后，烧写到实物中对设计结果进行验证和总结。关键字：平衡车；卡尔曼滤波；PID算法；AltiumDesigner；KeilMDK；MPU6050佳木斯大学本科毕业论文（设计）第II页AbstractThepoweroftheelectricbalancevehiclecomesfromthemotor.Bycontrollingthepositiveandreverseofthemotor,thebalancevehiclegoesforwardandbackward,thusachievingthepurposeofselfbalancing.Atpresent,thebalanceofthecaronthemarketmostlyreliesontheweightchangetocontrolthestatusofthecarandthedesignbyaddingtheautotrackingfunctionandwirelessremotecontrolfunctionbasedonselfbalance,realizetheflexiblecontrolofthebalanceofthecar.Thebasiccontrolprincipleofbalancingvehicle,therealizationofselffollowfunctionandtherealizationofwirelessremotecontrolfunctionarestudied.Firstofall,thebasiccontroltheoryofthebalanceofthecarwereanalyzedandthePIDalgorithmfortheclosed-loopcontrol,MPU6050isselectedastheattitudesensor,theoriginaldatawereprocessedbyCalmanfilterofMPU6050,gettheattitudeinformationforthesystem.Then,usingAltiumDesignersoftwaretodrawthecorrespondingcircuitdiagram,andcompletedthePCBboard.Finally,throughtheKeilMDKintegratedenvironmentforprogramming,aftercompilinganddebuggingsuccessfully,burningtothephysical,thedesignresultsareverifiedandsummarized.KeyWords:balancecar;Kalmanfilter;PIDalgorithm;AltiumDesigner;KeilMDK;MPU6050佳木斯大学本科毕业论文（设计）第III页目录摘要..............................................................................................................................................IAbstract..........................................................................................................................................II第1章绪论.................................................................................................................................11.1课题研究背景及意义.....................................................................................................11.2国内外发展情况.............................................................................................................11.2.1国内发展现状.......................................................................................................11.2.2国外发展现状.......................................................................................................21.3主要研究内容.................................................................................................................3第2章控制方案设计.................................................................................................................42.1系统原理分析.................................................................................................................42.2关键算法分析.................................................................................................................52.2.1PID算法...............................................................................................................52.2.2卡尔曼滤波...........................................................................................................62.3方案制定.........................................................................................................................72.4本章小结.........................................................................................................................8第3章硬件系统设计.................................................................................................................93.1主处理器的选择.............................................................................................................93.2传感器的选择...............................................................................................................103.2.1姿态检测传感器.................................................................................................103.2.2电机转速传感器.................................................................................................103.2.3距离检测传感器.................................................................................................103.3无线传输模块及电机驱动芯片...................................................................................113.4电路设计与PCB制板.................................................................................................123.4.1电路设计.............................................................................................................123.4.2PCB制板............................................................................................................143.5本章小结.......................................................