飞行机器人测控综合性实验教学设计
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摘要
设计了一种以飞行机器人为实验对象的综合性实验教学平台。通过传感器6轴运动处理组件MPU6050接口实现位姿的测量实验;采用嵌入式ARM处理器STM32F103RE为控制器,经电子调速器控制机器人的4个直流电机,实现PID控制算法实验;摄像头OV2640采集视频图像,通过WiFi无线传输模块传送给上位机并显示出来,实现无线网络图像传输实验。实验结果表明,平台运行稳定可靠,适合作为测控类专业学生的综合性实验。
A comprehensive experimental teaching platform based on the flying robot is designed.The position and attitude measurement experiment is realized by the 6-axis motion processing module MPU6050 interface of the sensor,and the embedded ARM processor STM32F103RE is used as the controller.Four DC motors of the robot are controlled by an electronic governor to realize the experiment of PID control algorithm,and video images are captured by OV2640 camera.The camera OV2640 collects video images and transmits them to the host computer through the WiFi wireless transmission module,which realizes the experiment of wireless network image transmission.The experimental results show that the platform runs steadily and reliably and is suitable for comprehensive experiments of students majoring in measurement and control.
A comprehensive experimental teaching platform based on the flying robot is designed.The position and attitude measurement experiment is realized by the 6-axis motion processing module MPU6050 interface of the sensor,and the embedded ARM processor STM32F103RE is used as the controller.Four DC motors of the robot are controlled by an electronic governor to realize the experiment of PID control algorithm,and video images are captured by OV2640 camera.The camera OV2640 collects video images and transmits them to the host computer through the WiFi wireless transmission module,which realizes the experiment of wireless network image transmission.The experimental results show that the platform runs steadily and reliably and is suitable for comprehensive experiments of students majoring in measurement and control.
引文
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[2]冯茜.综合性、设计性实验教学在控制类课程中的实践与探讨[J].河北联合大学学报,2016,16(1):92-95.
[3]耿红霞,蒋小林.综合性实验教学改革探索与实践[J].实验室研究与探索,2015,34(5):147-149.
[4]田运生,刘维华,王景春.综合性设计性实验项目建设的探索与实践[J].实验技术与管理,2012,29(2):126-129.
[5]张中强,唐翔,蒋艳.基于科研反哺教学理念的高校科教融合机制研究[J].教育探索,2014,271(1):79-80.
[6]杨国田,苏荣强,吴华,等.飞行机器人的电力杆塔巡检路径规划[J].华中科技大学学报(自然科学版),2015,43(增刊):324-327.
[7]杨斌,何玉庆,韩建达,等.作业型飞行机器人研究现状与展望[J].机器人,2015,37(5):628-640.
[8]陈海滨,殳国华.四旋翼飞行器的设计[J].实验室研究与探索,2013,32(3):41-44.
[9]卢艳军,吴金宇.基于LabVIEW的四旋翼飞行器姿态测量实验系统[J].实验技术与管理,2018,35(2):142-145.
[10]CORONA-SNCHEZ J J,RORDRGUEZ-CORTS H J.Trajec-tory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors[J].Journal of Intelligent&Robotic Systems,2013,70(1-4):39-50.
[11]张承岫,李铁鹰,王耀力.基于MPU6050和互补滤波的四旋翼飞控系统设计[J].传感技术学报,2016,29(7):1011-1015.
[12]KIN J,KANG M S,PARK S J.Accurate Modeling and Robust Hovering Control for a Quad-rotor VTOL Aircraft[J].Journal of Intelligent and Robotic Systems,2010,57(9):9-26.
[13]BHUVANESH D,HEGDE M,Manikandan J.Design and Development of a Mobile Wireless Video Streaming Mote[J].Wireless Personal Communications,2018,100(2):477-489.