为了平衡粒子群算法的全局搜索能力和改良局部能力，采用非线性的动态惯性权重即自适应权重法。给出一个用自适应权重的粒子群算法求多元复杂函数的最小值实例。-To balance the PSO global search capability and improved local capacity, the use of non-linear dynamic adaptive inertia weight that the weighting method. Gives an adaptive wei

基于STM32两轮自平衡小车,用mpu6050读取角度，进行PID调节-balance car