Based on the summary and analysis of the current control algorithm of balance vehicle, an ADRC design scheme and debugging method which can be applied to vertical two wheeled vehicle are proposed by using ADRC technology. Taking STM32 series single chip microcomputer as the control platform and two coaxial stepping motors as the driving unit, MPU6050 accelerometer module is used to detect the inclination of the vehicle body in real time, and Bluetooth module is used to realize short-distance data transmission. The auto disturbance rejection control model of the balance vehicle is established b...
