通信与信息技术

针对单片机教学过程中学生学习能力不同的问题，利用分层教学，来提升学生学习能力、学习兴趣。通过对双轮自平衡小车控制系统的制定，选用STM32单片机设计作为主板芯片，提出了系统方案设计，同时也对双轮自平衡小车控制系统的规定、架构和设计理念进行论述。设计采用串级PID，将直立环，速度环，转向环串联起来，其中直立环采用PD算法的位置式PID，速度环采用PI算法的增量式PID，转向环直接采用P算法。三个环的串联可以显示小车无论在前进，后退还是转弯时都可保持直立。针对本系统采取了参数的调试和性能的检测，从而证实了双轮平衡车控制系统的必要性和可靠性。

Aiming at the problem of different learning ability of students in the process of teaching microcontroller, we utilize layered teaching to enhance students' learning ability and learning interest. By formulating the control system of the two-wheeled self-balancing vehicle, the STM32 microcontroller design is chosen as the main board chip, and the system program design is proposed, and the provisions, architecture and design concepts of the control system of the two-wheeled self-balancing vehicle are also discussed.The design uses series PID to connect the upright ring, speed ring, and steering ring in series, where the upright ring uses positional PID with PD algorithm, the speed ring uses incremental PID with PI algorithm, and the steering ring directly uses P algorithm. The series connection of the three loops can show that the trolley can remain upright no matter when it is moving forward, backward or turning.The debugging of parameters and testing of performance were taken for this system, thus confirming the necessity and reliability of the control system of the two-wheeled balance vehicle.