Design and debugging of self-balancing unicycle based on PID algorithm

This paper focuses on the design and debugging of the unicycle. First of all, it starts with the unicycle hardware, unicycle physical diagram, and unicycle motherboard schematic diagram, and the use of the MPU6050 gyroscope, carrying the core of the TC264 board. The software design of the unicycle, mainly using the PID algorithm, is introduced. PID algorithm has been known for its practicability, and the unicycle closed-loop balance principle has been introduced from in situ balance to control two aspects. Finally, the tuning of the unicycle is introduced from the polarity to fine-tuning.