CN107985487B - Automatic balance car control system - Google Patents
Automatic balance car control system Download PDFInfo
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- CN107985487B CN107985487B CN201711401884.1A CN201711401884A CN107985487B CN 107985487 B CN107985487 B CN 107985487B CN 201711401884 A CN201711401884 A CN 201711401884A CN 107985487 B CN107985487 B CN 107985487B
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 31
- 239000003990 capacitor Substances 0.000 claims description 25
- 238000002955 isolation Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 239000003381 stabilizer Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 3
- 238000010168 coupling process Methods 0.000 claims 3
- 238000005859 coupling reaction Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 7
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 3
- 239000013078 crystal Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Gyroscopes (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses an automatic balance car control system which comprises a main controller, a motor driving circuit, a gyroscope circuit, a display circuit and a power supply, wherein the main controller is connected with the motor driving circuit; the motor driving circuit, the gyroscope circuit and the display circuit are respectively connected with the main controller; the power supply comprises a power supply circuit and a voltage conversion circuit, the power supply circuit is connected with the motor driving circuit, and the voltage conversion circuit is respectively connected with the main controller, the gyroscope circuit and the display circuit; the main controller is an STM32 main controller; the IO interface of the STM32 main controller is respectively connected with the coding module and the ultrasonic module; the USART1 interface of STM32 master controller is connected with the serial port debugging circuit, the USART2 interface of STM32 master controller is connected with the Bluetooth module, and the USART3 interface of STM32 master controller is connected with the key input module. The invention improves the overall real-time performance and stability of the balance car.
Description
Technical Field
The invention relates to the technical field of automatic balance vehicles, in particular to an automatic balance vehicle control system.
Background
The operation principle of the automatic balance car is mainly established on the basic principle called dynamic stability, namely the automatic balance capability of the car, the change of the car body posture is detected by utilizing a gyroscope and an acceleration sensor in the car body, the change of the gravity center of a person is detected by utilizing a servo control system, the motor is accurately driven to carry out corresponding adjustment so as to keep the balance of the system to achieve the balance effect, the gyroscope drives the motor to drive the balance car to advance or retreat after the rapid operation of the singlechip, and the turning is realized by calculating the matching direction.
Disclosure of Invention
The invention provides an automatic balance car control system for solving the problems of unstable operation, poor control accuracy and sensitivity and poor user experience of the existing balance car.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic balance car control system comprises a main controller, a motor driving circuit, a gyroscope circuit, a display circuit and a power supply;
the motor driving circuit, the gyroscope circuit and the display circuit are respectively connected with the main controller;
the power supply comprises a power supply circuit and a voltage conversion circuit, the power supply circuit is connected with the motor driving circuit, and the voltage conversion circuit is respectively connected with the main controller, the gyroscope circuit and the display circuit;
the main controller is an STM32 main controller;
the IO interface of the STM32 main controller is respectively connected with the coding module and the ultrasonic module; the USART1 interface of the STM32 main controller is connected with the serial port debugging circuit, the USART2 interface of the STM32 main controller is connected with the Bluetooth module, and the Bluetooth module is in wireless connection with the intelligent terminal; the intelligent terminal comprises a mobile phone APP; the USART3 interface of the STM32 main controller is connected with the key input module; the serial port debugging circuit and the key input module are connected with the man-machine interaction interface;
and the Bluetooth module is used for realizing Bluetooth communication with the intelligent terminal.
Further, the motor driving circuit comprises a motor and a motor driver, wherein the motor driver adopts an L298P driving chip, and the L298P driving chip comprises an integrated double H-bridge driving circuit.
Further, the gyroscope circuit is connected by an MPU6050 chip and is used for collecting gravity and acceleration data.
Further, the display circuit is an OLED display circuit.
Further, the power supply circuit is used for converting the input direct current into direct current of 5V and supplying the direct current to the motor driver;
the voltage conversion circuit is used for converting the direct current of 5V output from the power supply circuit into direct current of 3.3V and supplying the direct current to the main controller, the gyroscope circuit and the display circuit;
the power supply circuit comprises an MP2359 conversion chip, wherein the power supply input end is connected with the positive electrode of a diode D11, the negative electrode of the diode D11 is connected with a power supply input voltage pin of the MP2359 conversion chip, the negative electrode of the diode D11 is simultaneously connected with a resistor R6 and then is connected with the enabling end of the MP2359 conversion chip, and the switch pin of the MP2359 conversion chip is connected with an inductor L2 and then is connected with a resistor R5 and then is connected with a feedback pin of the MP2359 conversion chip; the resistor R5 is connected in parallel with the capacitor C18, the inductance L2 is 4.7UH, the resistor R6 is 100KΩ, the resistor R5 is 73K Ω, and the capacitor C18 is 15pF.
The voltage conversion circuit adopts an AMS1117-3.3 voltage stabilizer, direct current of 5V is connected with the positive electrode of a diode D1, the negative electrode of the diode D1 is connected with the input end of the AMS1117-3.3, the two output ends of the AMS1117-3.3 are connected in parallel with an electrolytic capacitor C5 and a capacitor C4 after being short-circuited, and the other ends of the electrolytic capacitor C5 and the capacitor C4 are grounded; the output of AMS1117-3.3 outputs 3.3V DC.
Further, the encoding module adopts a Hall encoder.
Further, the serial port debugging circuit is connected with the STM32 main controller through a USB-to-serial port chip; the USB-to-serial port chip is a CH340G chip.
Further, the motor driving circuit further comprises an optical coupler isolation circuit, wherein one end of the optical coupler isolation circuit is connected with the main controller, and the other end of the optical coupler isolation circuit is connected with the motor driving circuit and used for completely isolating the motor driving chip L298P with larger current from the STM32 main controller.
The beneficial effects of the invention are as follows:
1. according to the automatic balance car control system, the master controller is provided with the STM32 master controller controlled by PID, and has 72MHz main frequency and high-speed operation cores, and meanwhile, excessive residual IO is not wasted, so that most of peripheral equipment of the singlechip is fully used, and the highest cost performance is achieved; the power supply circuit adopts a third generation DC-DC voltage conversion chip MP2359 of a CMOS technology, the internal oscillation frequency reaches 1.4MHz, the power supply circuit can work normally in inductance of 4.7UH, the packaging can adopt SOT23-6, the occupied area of the power supply circuit is small, the input voltage range is 4.5-24V, the maximum output current is 1.2A, and the power supply is more than enough for a balance car control system with 12V power supply, so that a sufficient and good power supply system is ensured; the motor driving circuit adopts an L298P driving chip, adopts POWER-SO20 encapsulation, saves the size of a PCB, avoids the overlarge motor driving volume and integrates a double H bridgeThe driving can bear PWM speed regulation of 100KHZ, and the stability of the system is improved; the gyroscope circuit adopts an MPU6050 chip, adopts a QFN package of 4 x 0.9 to integrate the triaxial acceleration and the triaxial gyroscope, can accurately track the rapid action, has a hardware DMP inside to carry out filtering setting output on the data of the gyroscope circuit, and adopts I 2 The C bus transmits data to the singlechip for processing, so that the anti-interference capability of the system and the instantaneity of data transmission are effectively improved; the serial port debugging circuit adopts an integrated USB-to-serial port chip CH340G as a driving chip, and is connected with the serial port debugging circuit of a computer, so that parameter debugging and observation of the trolley are facilitated.
2. The automatic balance car control system acquires data such as gravity, acceleration, distance and the like of a balance car through a gyroscope circuit, a coding module and an ultrasonic module, performs gesture feedback on the data by using a main controller, outputs an algorithm, performs output control by using a motor driving circuit to form a complete closed-loop control system, then can realize receiving of a gyroscope circuit data stream through software, performs fusion and gesture analysis, analyzes the calculation speed of the coding module, smoothly controls motor output by using a PID control algorithm, and adjusts gesture, thereby improving the overall real-time performance and stability of the balance car.
Drawings
Fig. 1 is a schematic structural diagram of an automatic balance car control system according to the present invention.
Fig. 2 is a circuit schematic diagram of a master controller STM32C8T6 single-chip microcomputer of the automatic balance car control system of the present invention.
Fig. 3 is a schematic diagram of an MP2359 power circuit of the automatic balance car control system of the present invention.
Fig. 4 is a schematic diagram of a voltage conversion circuit of the automatic balance car control system according to the present invention.
Fig. 5 is a schematic diagram illustrating connection of a motor driving circuit L298P chip of the automatic balance car control system according to the present invention.
Fig. 6 is a schematic diagram showing connection of a gyro circuit MPU6050 chip of the automatic balance car control system of the present invention.
Fig. 7 is a schematic circuit connection diagram of a serial port debug circuit USB to serial port chip CH340G of the automatic balance car control system of the present invention.
The reference numerals in the drawings are: the intelligent electronic device comprises a main controller 1, a power supply 2, a motor driving circuit 3, a display circuit 4, a gyroscope circuit 5, a coding module 6, an ultrasonic module 7, a key input module 8, a Bluetooth module 9, a serial port debugging circuit 10, a human-computer interaction interface 11 and an intelligent terminal 12.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
example 1: as shown in fig. 1, an automatic balance car control system comprises a main controller 1, a motor driving circuit 3, a gyroscope circuit 5, a display circuit 4 and a power supply 2;
the motor driving circuit 3, the gyroscope circuit 5 and the display circuit 4 are respectively connected with the main controller 1;
the power supply 2 comprises a power supply circuit and a voltage conversion circuit, wherein the power supply circuit is connected with the motor driving circuit 3, and the voltage conversion circuit is respectively connected with the main controller 1, the gyroscope circuit 5 and the display circuit;
the main controller 1 is an STM32 main controller;
the IO interface of the STM32 main controller is respectively connected with the coding module 6 and the ultrasonic module 7; the USART1 interface of the STM32 main controller is connected with the serial port debugging circuit 10, the USART2 interface of the STM32 main controller is connected with the Bluetooth module 9, and the Bluetooth module 9 is in wireless connection with the intelligent terminal 12; the intelligent terminal 12 comprises a mobile phone APP; the USART3 interface of the STM32 main controller is connected with the key input module 8; the serial port debugging circuit 10 and the key input module 8 are connected with the human-computer interaction interface 11;
the bluetooth module 9 is configured to implement bluetooth communication with the intelligent terminal 12.
Further, the motor driving circuit 3 comprises a motor and a motor driver, the motor driver adopts an L298P driving chip, and the L298P driving chip comprises an integrated double H-bridge driving circuit.
Further, the gyroscope circuit 5 is connected by an MPU6050 chip and is used for collecting gravity and acceleration data.
Further, the display circuit 4 is an OLED display circuit.
Further, the power supply circuit is used for converting the input direct current into direct current of 5V and supplying the direct current to the motor driver;
the voltage conversion circuit is used for converting the direct current of 5V output from the power supply circuit into direct current of 3.3V and supplying the direct current to the main controller 1, the gyroscope circuit 5 and the display circuit 4;
as shown in fig. 3, the power supply circuit includes an MP2359 conversion chip, the power supply input end is connected to the positive electrode of a diode D11, the negative electrode of the diode D11 is connected to the power supply input voltage pin of the MP2359 conversion chip, the negative electrode of the diode D11 is connected to a resistor R6 and then connected to the enable end of the MP2359 conversion chip, and the switch pin of the MP2359 conversion chip is connected to an inductor L2 and then connected to a resistor R5 and connected to the feedback pin of the MP2359 conversion chip; the resistor R5 is connected in parallel with the capacitor C18, the inductance L2 is 4.7UH, the resistor R6 is 100KΩ, the resistor R5 is 73K Ω, and the capacitor C18 is 15pF.
As shown in FIG. 4, the voltage conversion circuit adopts an AMS1117-3.3 voltage stabilizer, direct current of 5V is connected with the positive electrode of a diode D1, the negative electrode of the diode D1 is connected with the input end of the AMS1117-3.3, the two output ends of the AMS1117-3.3 are connected in parallel with an electrolytic capacitor C5 and a capacitor C4 after being short-circuited, and the other ends of the electrolytic capacitor C5 and the capacitor C4 are grounded; the output of AMS1117-3.3 outputs 3.3V DC.
Further, the encoding module 6 adopts a hall encoder.
Further, the serial port debugging circuit 10 is connected with the STM32 main controller through a USB to serial port chip; the USB-to-serial port chip is a CH340G chip.
Further, the motor driving circuit further comprises an optical coupler isolation circuit, one end of the optical coupler isolation circuit is connected with the main controller 1, the other end of the optical coupler isolation circuit is connected with the motor driving circuit 3, and the optical coupler isolation circuit is used for completely isolating the motor driving chip L298P with larger current from the STM32 main controller.
As an implementation mode, the main controller 1 of the system adopts an STM32C8T6 singlechip packaged by a Cortex-M3 kernel LQFP48 pin and has a 72MHz main frequency and high-speed operation kernel; the main controller 1 mainly comprises an STM32C8T6 singlechip, a reset circuit, a crystal oscillator circuit and a program downloading interface circuit; the crystal oscillator is 16MHz, and the I/0 distribution of the main control circuit and other modules are shown in figure 2.
As shown in fig. 5, the motor driver adopts an L298P driving chip, and the L298P driving chip includes an integrated dual H-bridge driving circuit therein; the PWM speed regulation of 100KHz can be born, the maximum output current of a single bridge is 2A, and the maximum current is 4A;
as shown in fig. 6, a gyroscope circuit 5 connected by an MPU6050 chip is adopted, and pins SDA and SCL of the MPU6050 are respectively connected with pins PB9 and PB8 of an STM32C8T6 singlechip; the SDA pin and the SCL pin of the MPU6050 are connected with resistors R7 and R8, and the resistors R7 and R8 are 10KΩ; the INT pin of the MPU6050 is connected with the PB5 pin of the STM32C8T6 singlechip; one end of the VDD interface of the MPU6050 is connected with a 3.3V power supply, and the other end is grounded through a capacitor C26; the QFN package of 4 x 0.9 is adopted to integrate the triaxial acceleration and the triaxial gyroscope, the rapid action is accurately tracked, the data of the gyroscope circuit can be filtered, set and output by the DMP with one hardware inside, and I is adopted 2 And the C bus transmits data to the STM32C8T6 singlechip for processing, so that the anti-interference capability of the system and the real-time performance of data transmission are effectively improved.
As shown in fig. 7, the serial port debug circuit 10 is connected with the STM32 main controller through a USB to serial port chip; the USB-to-serial port chip is a CH340G chip; the TXD and RXD interfaces of the CH340G chip are connected with the TXD and RXD interfaces of the STM32C8T6 singlechip; the VCC end of the CH340G chip is powered through a USB interface and is connected with a capacitor C1 and a capacitor C2 in parallel; d+ and D-of the CH340G chip are connected with D+ and D-ports of the USB interface; and XI and XO interfaces of the CH340G chip are respectively connected with a capacitor C6 and a capacitor C7, and a 12.288MHz crystal oscillator Y1 is connected in parallel between the capacitor C6 and the capacitor C7.
Embodiment 2: the structure of the automatic balance car control system disclosed in embodiment 1 is basically the same as that of the automatic balance car control system disclosed in embodiment, except that the automatic balance car control system further comprises an optocoupler isolation circuit, one end of the optocoupler isolation circuit is connected with the main controller 1, and the other end of the optocoupler isolation circuit is connected with the motor drive circuit 3, so that the motor drive chip L298P with larger current is completely isolated from the STM32 main controller.
According to the dynamic balance car control system, accurate tracking and rapid action of a balance car are realized through the triaxial acceleration and the triaxial gyroscope in the gyroscope circuit 5, the data of the gyroscope can be filtered, set and output by the hardware DMP which is arranged in the dynamic balance car control system, the coding module 6 is used for coding, and I is adopted 2 The C bus transmits data to the STM32C8T6 singlechip for processing, and meanwhile, the STM32C8T6 singlechip gives an instruction to the motor driver to drive the motor to work; the judgment of the obstacle is realized through the ultrasonic module 7, and the rotation of the motor is controlled through the single chip microcomputer after the treatment; meanwhile, functions of automatic balance car key input, serial port debugging and the like can be realized through Bluetooth connection of the mobile phone APP and the man-machine interaction interface 11 with the main controller 1.
The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present invention.
Claims (6)
1. The automatic balance car control system is characterized by comprising a main controller, a motor driving circuit, a gyroscope circuit, a display circuit and a power supply;
the motor driving circuit, the gyroscope circuit and the display circuit are respectively connected with the main controller;
the power supply comprises a power supply circuit and a voltage conversion circuit, the power supply circuit is connected with the motor driving circuit, and the voltage conversion circuit is respectively connected with the main controller, the gyroscope circuit and the display circuit;
the main controller is an STM32 main controller;
the IO interface of the STM32 main controller is respectively connected with the coding module and the ultrasonic module; the USART1 interface of the STM32 main controller is connected with the serial port debugging circuit, the USART2 interface of the STM32 main controller is connected with the Bluetooth module, and the Bluetooth module is in wireless connection with the intelligent terminal; the intelligent terminal comprises a mobile phone APP; the USART3 interface of the STM32 main controller is connected with the key input module; the serial port debugging circuit and the key input module are connected with the man-machine interaction interface;
the Bluetooth module is used for realizing Bluetooth communication with the intelligent terminal;
the motor driving circuit is characterized by further comprising an optical coupling isolation circuit, wherein one end of the optical coupling isolation circuit is connected with the main controller, and the other end of the optical coupling isolation circuit is connected with the motor driving circuit and is used for completely isolating the motor driving chip L298P with larger current from the STM32 main controller;
the motor driving circuit comprises a motor and a motor driver, wherein the motor driver adopts an L298P driving chip, and the L298P driving chip comprises an integrated double H-bridge driving circuit.
2. The automatic balance car control system of claim 1, wherein the gyroscope circuit is connected using an MPU6050 chip for collecting gravity and acceleration data.
3. The automatic balance car control system of claim 1, wherein the display circuit is an OLED display circuit.
4. The automatic balance vehicle control system according to claim 1, wherein the power supply circuit is configured to convert an input direct current into a direct current of 5V and supply the direct current to the motor driver;
the voltage conversion circuit is used for converting the direct current of 5V output from the power supply circuit into direct current of 3.3V and supplying the direct current to the main controller, the gyroscope circuit and the display circuit;
the power supply circuit comprises an MP2359 conversion chip, wherein the power supply input end is connected with the positive electrode of a diode D11, the negative electrode of the diode D11 is connected with a power supply input voltage pin of the MP2359 conversion chip, the negative electrode of the diode D11 is simultaneously connected with a resistor R6 and then is connected with the enabling end of the MP2359 conversion chip, and the switch pin of the MP2359 conversion chip is connected with an inductor L2 and then is connected with a resistor R5 and then is connected with a feedback pin of the MP2359 conversion chip; the resistor R5 is connected in parallel with the capacitor C18, the inductance L2 is 4.7UH, the resistor R6 is 100KΩ, the resistor R5 is 73K Ω, and the capacitor C18 is 15pF;
the voltage conversion circuit adopts an AMS1117-3.3 voltage stabilizer, direct current of 5V is connected with the positive electrode of a diode D1, the negative electrode of the diode D1 is connected with the input end of the AMS1117-3.3, two output ends of the AMS1117-3.3 are short-circuited and then connected with an electrolytic capacitor C5 and a capacitor C4 in parallel, and the other ends of the electrolytic capacitor C5 and the capacitor C4 are grounded; the output of AMS1117-3.3 outputs 3.3V DC.
5. The automatic balance car control system of claim 1, wherein the encoding module employs a hall encoder.
6. The automatic balance car control system of claim 1, wherein the serial port debugging circuit is connected with the STM32 main controller through a USB to serial port chip; the USB-to-serial port chip is a CH340G chip.
Priority Applications (1)
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|---|---|---|---|
| CN201711401884.1A CN107985487B (en) | 2017-12-22 | 2017-12-22 | Automatic balance car control system |
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| CN201711401884.1A CN107985487B (en) | 2017-12-22 | 2017-12-22 | Automatic balance car control system |
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| CN107985487A CN107985487A (en) | 2018-05-04 |
| CN107985487B true CN107985487B (en) | 2024-01-30 |
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| CN109466343B (en) * | 2018-12-04 | 2024-01-05 | 江汉大学 | Four-wheel drive speed control circuit |
| CN109498297A (en) * | 2018-12-30 | 2019-03-22 | 天津传世科技有限公司 | Balancing seat controller |
| CN110764480B (en) * | 2019-11-01 | 2021-11-09 | 浙江阿尔郎科技有限公司 | Balance car control system and balance car |
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