Abstract:

This paper presents a design of self-balancing two-wheeled vehicle based on a STM32F and a digital motion sensor (MPU-6050).Kalman-filtering algorithm is used to fuse the gyroscope and accelerometer signal in order to get the optimal estimate of vehicle attitude angle and angular velocity.The self-balancing two-wheeled vehicle control system is achieved by digital PID algorithm which controls PWM signals of two DC motors.Experiments show that the two-wheeled vehicle can stably achieve self-balancing and simple movement under remote control.

Key words: Kalman filtering;data , fusion;self balancing;two wheeled;STM32