基于ARM的应用实践_基于双核STM32的智能平衡车.pdf

上海电力学院 2016 ～ 2017 学年 《基于ARM 的应用实践》电子书院课程 课程名称： 基于ARM的应用实践 课程编号： 论文题目: 基于双核STM32的无线巡视智能平衡车 姓名: 郭茂 学 号: 论文评语: 成 绩: 任课教师: 评阅日期: - 1- 基于双核STM32的无线巡视智能平衡车 郭茂 （上海电力学院 电子与信息工程学院，上海200090） 摘要：自平衡两轮车是一种具有左右两轮且能自动保持平衡的倒立摆系统，具有自主保持车体平衡不倾倒的能力。 自该车作问世以来，由于其独有的占地面积小、机动灵活性强、能零半径转弯、行驶方式简单等优点而广受大众 关注。同时该车又是一个复杂的机电一体化系统，该系统包括驱动模块、电源模块、传感模块、车体控制模块、 机械本体等，并广泛涉及电机驱动技术、电源技术、传感技术、信号处理技术、控制理论、机械机构设计学等多 领域的内容。现今智能平衡车控制理论与应用发展都较为成熟，故本文旨将该平衡控制系统引入智能家居安全防 护网络中，设计出基于双核的多任务无线巡视智能平衡车； 关键词：自平衡；智能家居；双核多任务 Based on the dual-core STM32 wireless patrol smart balance car mao_GUO (SchoolofElectronicand InformationEngineering,ShanghaiUniversityofPower,Shanghai200090,China) Abstract:Self balancing two rounds of car around is one kind has two wheels and can automatically maintain a balance of inverted pendulum system, with independent ability to maintain balance not dump.Sincethecarmakeavailable,dueto itsuniquecover anareaofanarea small,themaneuverability is strong, can zero turningradius, drivingofferstheadvantagesof simpleandpopularwith thepublic attention.At the same time, the car is a complex electromechanical system, the system includes drive module, power supply module, sensor module, the control module of the body, such as manipulator, and widely involved in motor drive, power supply technology, sensor technology, signal processing technology, control theory, mechanical mechanism content in the field of design, etc.Nowadays the intelligent control theory and application development are balanced car is relatively mature, this paper holds the b