Advances in Sports Engineering, 2025, 5(1); doi: 10.38007/ASE.2025.050101.
Boyu Pang, Kewei Hou, Yingdao Li, Yuting Zhang, Qinyang Zhu, Qinxi Lin
Ningbo Tech University, Ningbo, China
With the rapid development of science and technology, especially in the field of automation and intelligence, mobile robots have received extensive attention and research. Among all kinds of mobile robots, the two-wheel balance trolley has become a popular object for learning and studying dynamic control because of its unique design and control mechanism. In this paper, the self-balancing trolley uses STM32 single-chip microcomputer as the control chip, uses the MPU6050 to collect the attitude data of the trolley, adopts double closed-loop PID control, uses PI control for the speed ring, and uses PD control for the angle ring, so as to realize the balance control of the two-wheeled trolley.
STM32; self-balancing trolley; MPU6050; double closed loop; PID
Boyu Pang, Kewei Hou, Yingdao Li, Yuting Zhang, Qinyang Zhu, Qinxi Lin. Two-Wheel Self-Balancing Trolley Design Based on STM32. Advances in Sports Engineering (2025), Vol. 5, Issue 1: 1-6. https://doi.org/10.38007/ASE.2025.050101.
[1] Ji Pengfei, Zhu Yan, Cheng Chuantong, Du Xiao. Design of two-wheel self-balancing trolley control system based on STM32[J].Electronic Science and Technology,2014,27(11):96-99105.
[2] Huang Qiang,Tang Jie,Lin Li,Wang Yuanming,Zhu Qunfeng. Design and implementation of two-wheel balance trolley controlled by double closed-loop PID[J].Journal of Shaoyang University(Natural Science Edition),2020,17(3):35-39.
[3] Wang Suqing, Xiong Weitang. Design of two-wheel self-balancing trolley system based on STM32[J].Laboratory Research and Exploration,2016,35(5):146-150.
[4] Yang Xin,Liu Haitao. Two-wheeled self-balancing remote-controlled trolley based on STM32[J].Digital Technology and Application,2014,32(5):151-152.