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Design and Implementation of Cubical Robot Control System Based on STM32

In order to satisfy the verification requirements of unstable, non-linear, multi-input and single-output control algorithms, the research of complex inverted pendulum system has broad prospects for development and high scientific research value. The cubical robot inverted pendulum system built in this paper takes STM32F427II microcontroller as the control core. The mechanical structure is composed of three isometric and vertical momentum wheels, and the brake system with the steering gear as the power. The space attitude of the robot is calculated by using three axis acceleration and linear velocity solution, and the output torque of the motor is controlled by its own attitude, so that the robot can stand steadily on one side and at one point. This paper briefly introduces the development history and research status of the inverted pendulum system and cubical robot, gives the hardware and software design ideas and implementation methods of the cubical robot based on STM32, and builds the corresponding cubical robot. The experimental results show that the cubical robot built in this paper achieves the expected functions, and verifies the effectiveness of the control system.