| Summary: | 碩士 === 國立臺灣海洋大學 === 機械與機電工程學系 === 105 === In this thesis, a two-wheeled self-balancing cart using DC motors and MPU-6500 sensor is built based on a single board Raspberry Pi system running Linux. In the balancing process, accelerometer and gyroscope are used to measure the tilt angle and angular velocity of the cart. Then, combining both data, the tilt angle acquired through a filer is fed into a PID controller to calculate the control command voltage of two DC motors. In addition, through remote command, the cart can perform forward, backward, and rotating motions while maintaining balance.
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