# 双轮平衡车运动控制系统
## 硬件部分
* MCU:STM32F103C8T6
* 姿态采集:MPU6050
* 电机驱动:TB6612FNG
## 开发平台
* STM32CubeMX
* Keil MDK5
## 软件算法
* 卡尔曼滤波
* 串级PID控制
* 速度一阶低通滤波
## 实物展示
![引脚分配图](https://raw.githubusercontent.com/lengzhi092/BalanceCar/main/Picture/引脚分配图.png)
![车体](https://raw.githubusercontent.com/lengzhi092/BalanceCar/main/Picture/实物图.png)
![开机界面](https://raw.githubusercontent.com/lengzhi092/BalanceCar/main/Picture/开机界面.jpg)
![实时界面](https://raw.githubusercontent.com/lengzhi092/BalanceCar/main/Picture/实时界面.jpeg)
![倾斜平面测试](https://raw.githubusercontent.com/lengzhi092/BalanceCar/main/Picture/倾斜平面测试.jpg)
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