基于STC单片机的自平衡小车设计

本文提出了一种两轮自平衡小车的设计方案,采用集成了3轴MEMS陀螺仪与3轴加速度MPU6050构成小车姿态检测装置,完成陀螺仪数据与加速度计数据的数据融合。系统选用STC15系列1T8051单片机IAP15W4K63S4为控制核心,完成传感器信号的处理及车身平衡控制。系统各个模块能够正常并协调工作,小车可在无人干预条件下实现自主平衡。

In this paper, a design scheme of a two-wheeled self-balancing vehicle is proposed, in which a 3-axis MEMS gyroscope and 3-axis acceleration MPU6050 are integrated to form a vehicle attitude detection device, and data fusion of the gyroscope data and accelerometer data is completed. STC15 series 1T 8051 MCU IAP15W4K63S4 is selected as the control core of the system to complete the sensor signal processing and body balance control. Each module of the system can work normally and harmoniously, and the car can achieve self-balancing under the condition of no one's intervention.

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