Research on stratified experimental teaching of new engineering in application-oriented universities-Design and implementation of two-wheel self-balancing vehicle based on STM32
Aiming at the problem of different learning ability of students in the process of teaching microcontroller,we utilize lay-ered teaching to enhance students'learning ability and learning interest.By formulating the control system of the two-wheeled self-bal-ancing vehicle,the STM32 microcontroller design is chosen as the main board chip,and the system program design is proposed,and the provisions,architecture and design concepts of the control system of the two-wheeled self-balancing vehicle are also discussed.The design uses series PID to connect the upright ring,speed ring,and steering ring in series,where the upright ring uses positional PID with PD algorithm,the speed ring uses incremental PID with PI algorithm,and the steering ring directly uses P algorithm.The se-ries connection of the three loops can show that the trolley can remain upright no matter when it is moving forward,backward or turning.The debugging of parameters and testing of performance were taken for this system,thus confirming the necessity and reliability of the control system of the two-wheeled balance vehicle.
Two-wheel self-balancing vehicle control systemSTM32 microcontrollerPID algorithm
国家科技期刊平台
NSTL
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