Design of balanced bicycle system based on anti-integral saturation and incomplete differential PID algorithm

Abstract

With the PID balancing algorithm of STM32 balancing bicycle optimized and improved, a balanced bicycle is designed with STM32F103C8T6 microprocessor as the main controller and MPU6050 six-axis attitude sensor and brushless motor inertia wheel as the core components. In this paper, MPU6050 was employed as a balance bike attitude sensor to obtain the car body tilt Angle, gyroscope accelerometer and Kalman filtering algorithm adopted to carry out data fusion of attitude data, eliminate the data error of attitude sensor, and then the PID balance algorithm of the traditional balance system was optimized. Meanwhile, the anti-integral saturation algorithm, incomplete differential algorithm and dead zone algorithm are added to the PID algorithm and the improved PID algorithm is analyzed with the running attitude data of the self-balancing bike compared and analyzed.