Design and implementation of balance vehicle

As an intelligent mobile tool, the two wheel balancing vehicle has been widely used in fields such as robotics and intelligent transportation, and has important research significance. This system adopts PID algorithm to improve the accuracy of vehicle balance and system response speed. A complete hardware circuit was constructed using STM32 as the core, combined with a six axis accelerometer gyroscope, ultrasonic sensor, Bluetooth module, and a deceleration motor with a Hall encoder. In terms of software, the gyroscope obtains real-time acceleration and tilt data of the vehicle, solves the errors and noise problems of the gyroscope with the help of Kalman filtering, detects obstacles with ultrasonic waves, and feeds back the motor speed with the help of an encoder. These data, combined with PID, can accurately adjust the PWM signal output to ensure that the vehicle maintains balance during forward, backward, and steering processes. The system also designed a mobile app that can remotely control various movements of the vehicle through Bluetooth. The system has been debugged and its performance meets expectations. This design has good reference value for researching intelligent vehicles and autonomous driving, and also has certain reference value for researching other mobile devices.