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Two round manned since balance car control system

Two round manned since balance car control system is a typical of class inverted pendulum balance control system, for reduced cost, improve system control performance, the paper using new ARM microprocessor STM32F373 for control core, combined inertia sensor MPU6050, for has balance car control programme design. the paper proposed has motor of directly turned moment control method, and using improved Hou of dominant complementary filter algorithm get body tilt angle of real-time optimal value, formed has to angle ring, and Angular speed and current loop, results in a cascade three-loop proportional-integral-derivative (PID) control method to achieve the balance of the vehicle. and traditional use voltage open loop control and velocity feedback control of balance compared to the balance of this paper car with high performance-price ratio, fast response, smooth controls and so on.