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Hardware Design of Two-wheel Balanced Car based on STM32 Platform

机译：基于STM32平台的两轮平衡车的硬件设计

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The hardware system of two-wheeled balanced car designed in this paper uses STM32 as the master chip. MPU6050 is used as posture sensor of the system. Bluetooth communicates with the host computer to realize parameter setting, posture monitoring, data transmission and remote control for the balanced car. The car uses a geared motor as the power, and an infrared distance detecting module is arranged on the car body to realize obstacle avoidance function of the car. The software algorithm uses upright loop PD control, speed loop PI control, steering loop PID control, and three control links are parallel to control the speed of two wheels. After debugging and parameter setting, the self-balancing control of the balanced car is better realized, and the platform can expand more other functions.
机译：本文设计的两轮平衡车的硬件系统采用STM32作为主控芯片。 MPU6050用作系统的姿态传感器。蓝牙与主机通信，以实现平衡车的参数设置，姿态监控，数据传输和远程控制。轿厢以齿轮马达为动力，在车身上设有红外距离检测模块，实现了轿厢避障功能。该软件算法使用直立回路PD控制，速度回路PI控制，转向回路PID控制，并且三个控制链接并行控制两个车轮的速度。经过调试和参数设置，可以更好地实现平衡车的自平衡控制，平台可以扩展更多其他功能。

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