Design Of Two-Wheeled Balancing Robot Based On STM32

With the birth and rapid development of the computer science technologies,especially after the great successful practices in the the industry with computer related technologies,people more and more realize the importance of possibility of using computer-based technologies in various fields.Because the traditional computers structure are too big and too complicated,as well as too expensive,which caused the problem of using it less flexibly in the practical occasions.To solve this kind of problem,people came up with embedded computer technology which is based on traditional computer science but more inclined toward the practical needs of occasions.For it's advance of small size,convenient tailoring as well as low power consumption and cost,it not only can meet the need of all kind of practical occasions' needs,but also helps develop many new technology fields and industries with both the base of embedded computer technology and it's inclination for the practical needs,the most classical representative among these should be robot technology.Because robots can do a great many repetitive work for human and can operate in dangerous environment as well as their high efficiency,so robots will play an more and more important role in various fields.,21 th century will be the era of robots,so the research of robot technologies are being more and more important.This thesis mainly focus on STM32 controller chips based relative embedded computer technology in the detail application of two-wheeled balancing robot.In the hardware level,we use STM32F103RCT6 controller chip as both the central data processing and controlling unit of robot,MPU6050 as core motion sensor,two independent DC motors as power unit,each one contains a optical-electricity encoder for velocity detection.Use aluminum battery as power source,with voltage transformer module LM2596 S to translate it into the expected voltage and current that the development board needs,and provide power to other modules through development board.To achieve the function of monitoring and controlling robot,we use Bluetooth module to set up wireless communication with mobile phone which can send motion commands to the robot.Set up robot mathematical model base on it's mechanical structure and forced analysis,use PID double closed-loop control algorithm to achieve balance control,Kalman filter to filter sample data of MPU6050.In the software level,we mainly use C computer language to design the logical function to program the hardware,use Keil software as development environment and ST-Link hardware online debugging tool to help debug in both software andhardware.The result shows that using embedded computer technology can flexibly fulfill the function design that the balancing robot needs.Our robot not only can keep balance with it's two independent wheels but also has anti-interference to a certain degree,it's structure is more smaller and more flexible in turning which can achieve zero radius gyration,compared to other kinds of robots,especially suitable in narrow space,and can control the robot's movement via mobile phone as well as show it's motion data.The research of balancing robot is of high value in both teaching research and commercial development whether in military or civil filed.