【摘要】 为实现自行车在无人操控下的自平衡，提出一种基于角动量守恒原理的动量轮自平衡自行车设计方案。该系统以STM32F103C8T6微控制器为核心，集成MPU6050姿态传感器、动量轮模组、超声波避障及蓝牙通信等模块。研究通过MPU6050实时感知车身倾角，由微控制器运行串级比例积分微分控制（proportional integral differential control,PID control）算法，动态调节无刷电机驱动动量轮产生反向补偿力矩，以维持车身平衡。实验结果表明，该系统能有效实现静态与低速下的自主平衡，恢复平衡姿态的时间约0.35 s，且在坡道行驶与转向控制中车身倾角偏差小于3°。同时，系统具备超声波避障（阈值2 cm）与蓝牙远程控制功能，具有在智能交通工具领域的应用潜力，可为无人驾驶共享单车的研究提供实践参考。更多还原

【Abstract】 A bicycle with momentum wheels was designed to maintain self-balancing in unattended conditions,in accordance with the conservation of angular momentum. The system that applies the STM32F103C8T6 microcontroller as its core consists of an MPU6050 attitude sensor,momentum wheels,an ultrasonic obstacle avoidance module,and a Bluetooth communication module. With real-time monitoring of tilt angles via the MPU6050,the microcontroller dynamically adjusts the brushless motor by running a cascade PID control algorithm to enable the momentum wheels to generate reverse-compensating torque,thereby maintaining balance. Experimental results show that it takes the bicycle approximately 0.35 seconds to restore balance,and the deviation of the tilt angles is controlled within 3° when the bicycle is running on a ramp or making a turn,effectively achieving self-balancing under static and low-speed conditions. Meanwhile,the system,equipped with ultrasonic obstacle avoidance(with a 2 cm threshold) and Bluetooth remote control,not only demonstrates its potential for intelligent transportation but also provides practical guidance for research on driverless shared bicycles.更多还原