| With the rapid development of science and technology, our country obtained outstanding achievements in the field of intelligent robot; it brought convenience to people’s production and life. In this paper, the author studies on Two-wheeled Intelligent Balancing Vehicle be-longs to a kind of typical intelligent robot, the dynamic system with multi-variable, strong coupling, nonlinear and parameter uncertainty, etc. it could be implemented in a small space and good for environmental protection, it’s an ideal means of transport. The study of the sys-tem has high theoretical value and practical value. In this article, the hardware and software system of Two-wheeled Intelligent Balancing Vehicle will be designed, which system will eventually achieve static balance and dynamic balance, the main research work and contribu-tions of the dissertation can be summarized as follows:(1) Analyzing the balance principle and steering principle of Two-wheeled Intelligent Balancing Vehicle, establishes the kinetic model of wheel, vehicle body and motor, and then establishes the mathematical model of Two-wheel Intelligent Balancing Vehicle by Lagrange method.(2) The main control board circuit and the driving board circuit of Two-wheel Intelligent Balancing Vehicle control system are designed with STM32 as the main control chip. The main control board circuit includes power conversion circuit, STM32 minimum system and balance vehicle gesture, speed and steering information acquisition circuit. The driving board circuit includes a gate drive circuit with IR2130 as the driver chip and a three-phase bridge inverter circuit.(3) Analyzing the measuring principle for balance vehicle of Accelerometer and Gyros-cope in six axis motion processing components MPU6050. Then, a fusion algorithm of Kal-man filtering is designed to process the information of both to get more accurate information of the vehicle body angle, Finally, the effectiveness of the proposed algorithm is verified by MATLAB simulation.(4) Based on the hardware platform, Two-wheel Intelligent Balancing Vehicle data ac-quisition, PID control and WIFI communication program has been designed, On this basis,the balance vehicle test platform is built to test performance for the motor drive system, the balance, Accelerated motion and Turning motion of the vehicle. Verify the feasibility of the hardware and software system. |
