Developing Of A Two-wheel Self-balancing Electric Vehicle System Based On STM32

As the environment of Chinese city is mostly in densely populated state, increasingly rapid pace of life and the progress of science and technology, the motor vehicle is also increasing, the parking problem is becoming more and more difficult, the traffic becomes blocked. At the same time, we also face the increasingly serious environmental problems, so we must seek for the new traffic tool ride instead of walk, it must be portable, flexible, small volume, convenient for parking and easy operating etc. Therefore, this paper research mostly on small size, flexible operation and environmental protection in the two-wheel self-balancing electric vehicle.In this paper, we research and manufacture a two-wheel self-balancing electric vehicle, its mechanical part comprises a car body, two wheels, driving chain, DC gear motor, lithium batteries and other components. We use STM32as the main controller of the control circuit, apply6-axis attitude sensor GY521-MPU6050measuring car angle and the IR2111to drive motor. In addition, the control board also comprises a steering button interrupt circuit, voltage detection circuit, an indicating lamp circuit and serial debugging module and so on.Further, we also compiled the software for the balance system of the vehicle. We use the Kalman filter to process the information of the acceleration and angular velocity signal which are picked up by the6-axis attitude sensor GY521-MPU6050to get the real car angle, and then we make the PID to adjust the PWM duty ratio to control the speed and direction of DC motor, so as to achieve self-balancing and driving.At last, through the experimental debugging, electric vehicle can achieve the basic functions, but there are still many shortcomings to improve.