For the inadequacies of the existing two-wheeled self-balancing remote control car system,such as the poor stability,the single realization function and the large swing range of car body,an improved scheme of self-balancing remote control car is proposed.Firstly,using STM32F103 microcontroller as the main controller,transplanting the real-time operation system μC/OS-II,choosing DC motors,sensors and external circuits,and hardware control part of the two-wheeled self balancing car is designed.Secondly,MPU6050 module is used to obtain the current running posture of the car in real time,and kalman filter is given to deal with the posture information to transmit to the main controller.Then the linear PID controller is employed to adjust the motor speed.And combined with double close-loop controller,the balance of the car walking upright is achieved.Thirdly,the rocker potentiometer combined with wireless communication module can remote control car.Integrating ultrasonic sensors and GSM module,some functions can be realized,for example,obstacle avoiding and remote monitoring.Human-computer interaction function is realized through the TFT color LCD screen and bluetooth mobile phone client.Finally,the experiment results demonstrate that the car runs extremely smoothly and realizes the diversitied function,and the anti-interference ability is strong.It has the features of high accuracy and high stability,and the expansion of self-balancing remote control theory is realized.This possesses wide application prospects in robotics field.%针对现有两轮自平衡遥控小车系统稳定性不佳、实现功能单一、车体摆动幅度过大等不足,提出了两轮自平衡遥控小车改进方案.采用STM32F103单片机作为主控器,移植实时操作系统μC/OS-II,选择直流电机、传感器以及外围电路,设计了两轮自平衡遥控小车的硬件控制部分.利用MPU6050模块实时获取小车的当前运行姿态,经卡尔曼滤波处理位姿信息后发送给主控器,随后利用线性PID控制算法调节电机转速,结合双闭环控制实现了小车的直立平衡行走.摇杆电位器结合无线通信模块可远程遥控小车,利用超声波传感器和GSM模块实现避障和远程监测功能,通过TFT彩色液晶屏和蓝牙手机客户端实现人机交互功能.试验结果表明,小车系统运行平稳、功能多元、抗干扰能力强,具有很高的准确性和稳定性,实现了自平衡遥控理论的扩展,在机器人领域具有广阔的应用前景.
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