关键词：两轮自平衡车;XS128;控制算法;单片机
摘 要：The self-balanced two-wheel Cars are often devised in various competitions,and are involved in this direction in many large games.Based on the Freescal Semiconductor XS128 series single-chip microcomputer as the core controller,with the gyroscope and angle sensor to achieve two-wheel Car self balance,the self-balanced two-wheel structure,the balance principle and the control algorithm are introduced emphatically,and the self-balanced two-wheel car is finally completed through repeated testing.