Design of Two-Wheeled Self-Balance System Based on STM32

The proposed system is a self-balancing system based on STM32F103 using Cortex-M3 core. Firstly, MPU6050 and hall encoder are utilized to measure angle and speed respectively. These sensors can meet the requirement of real time. Then, digital filtering algorithm and kalman algorithm are adopted to process the digital singal. Finally, the stepping motor is used to drive the whole system. The experimental results show that our system can achieve self-balancing efficiently. Furthermore, it can finish attitude correction and speed control effectively.