这个平衡车项目,主要是个人熟悉和学习stm32f407zgt6单机的使用。
从中可以学习到单片机的基本外设和操作,MPU6050的使用和I2C通信,串口通信等知识。
使用MPU6050进入小车的状态测量,使用的PID算法进行控制,用角度环和速度环进行平衡控制,角度环使用的PD控制。
速度环使用的PI控制,速度环主要解决,小车平衡以后往一个方向跑直到倒下的问题。
控制还有许多可以改进的地方,这里还只实现了平衡功能,转向和前进、后退功能都没有实现,主要是没有加入蓝牙模块或者是 WiFi模块进行远程控制。
滤波算法只是简单地使用了一个低通滤波,可以使用卡尔曼滤波进行优化。
没有合适的资源?快使用搜索试试~ 我知道了~
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【资源说明】 1、该资源包括项目的全部源码,下载可以直接使用! 2、本项目适合作为计算机、数学、电子信息等专业的课程设计、期末大作业和毕设项目,作为参考资料学习借鉴。 3、本资源作为“参考资料”如果需要实现其他功能,需要能看懂代码,并且热爱钻研,自行调试。 基于stm32f407zgt6和MPU6050+利用速度环和位置环串级PID控制实现二轮车的平衡(技术资料).zip
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