Control system design for two-wheel self-balanced robot based on the stepper motor

A general control system of two-wheel self-balanced robot usually has a complex structure due to plenty of sensors, whose price is very expensive. According to this condition, a control system with the stepper motor driver is proposed, eliminating the expensive components, like optical encoder and brushless DC motor. At the same time, the low-power and high-performance STM32, 32-bit microprocessor, is selected as a controller. Outputted pulse frequency is adjusted through the adjustment of STM32 timer prescaler value, which regulates the step motor speed. With inclination angle formed by the Kalman filter of the output signal of the accelerometer and gyroscope as feedback, self-balanced closed loop control of two-wheeled robot is realized.