基于STM32f103c8t6平衡小车.zip
项目概览
这是一款高性能双轮自平衡机器人开发框架，以STM32F103C8T6微控制器为核心，融合嵌入式开发、控制算法与物联网技术，适用于机器人开发学习、毕业设计及智能硬件原型验证
。资源包包含完整的硬件设计文档、多版本控制程序（PID/LQR/串级PID）及配套上位机调试工具，支持蓝牙遥控、超声波避障等扩展功能
。
核心技术亮点
1. 颠覆性硬件架构
主控芯片：ARM Cortex-M3内核STM32F103C8T6（72MHz主频，64KB Flash），专为实时控制优化
传感器系统：MPU6050六轴姿态传感器（±2000°/s陀螺仪+±2g加速度计），集成DMP姿态解算算法
动力驱动：TB6612FNG双通道驱动模块（1.2A持续电流），效率比传统L298N提升40%
人机交互：0.96寸OLED显示PID参数/倾角数据，HC-05蓝牙支持手机APP遥控
2. 智能控制算法库
经典PID：直立环+速度环双闭环控制，响应时间<50ms
进阶LQR：线性二次调节器实现最优控制，稳定性提升30%
混合串级PID：内环速度控制（精度±0.5°）与外环平衡控制协同工作
抗干扰设计：卡尔曼滤波算法消除传感器噪声
3. 模块化扩展接口
预留超声波、红外循迹、语音控制接口
支持ROS机器人操作系统二次开发
兼容3S航模锂电池（12.6V）与Type-C供电双模式
文件下载
资源详情
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本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二条之规定，若资源存在侵权或相关问题请联系本站客服人员，zhiweidada#qq.com，请把#换成@，本站将给予最大的支持与配合，做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明