Design and Realization of Two-Wheeled Auto-Balancing Vehicle

As a typical nonlinear and dynamic balancing system, the two wheeled self balancing vehicle has become more and more popular because of its small size, flexible rotation, energy-saving and emission reduction. The design and production of two wheeled self balancing vehicle based on the study of Kalman filter and angle fusion, use the STM32 control chip, ADXL335 accelerometer and IDG655 gyroscope as the attitude sensing system, the PID control algorithm to adjust the PWM output to adjust motor speed to change the motion state of the vehicle. By field test, the system works stably and achieves the design purpose of the manned operation.