In this paper,the analysis of the two-wheeled self-balancing trolley is carried out,the corresponding dynamic model is established,and the principle and direction for the subsequent system implementation are provided.The control system uses STM32F103C8T6 as the main control chip,uses MPU6050 as the attitude sensor to measure the attitude angle of the car,and performs data fusion through Kalman filtering to obtain the optimal estimation of the attitude angle.Then output the appropriate PWM wave through the PID control algorithm to control the speed of the motor,build a double closed-loop control to maintain the balance of the car,and can use the Bluetooth module to connect to the mobile phone for remote control.The experiment results show that this method can make the trolley have good balance and can effectively control the operation of the trolley.