基于单片机控制舵机的调平装置设计
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摘要
针对目前调平设计主要集中在大型和中型设备上的局限,设计一种小型的基于单片机控制舵机的调平装置设计。系统根据LSM303DLH三轴陀螺仪采集的加速度数据,通过I2C协议与单片机进行数字传输,经过STM32微控制系统计算,结合算法设计从而产生调平所需的PWM波,控制伺服舵机的旋转角度,实现了对载物面的调平。实践结果表明,调平装置能实现两个自由度的舵机进行180°范围的旋转,调节精度达到10.55',水平度误差0.001～0.005,操作时间不超过3s,而且生产成本低。
In view of the limitation that the current leveling design mainly focuses on large and medium-sized equipment,a small adjustment device design based on single-chip microcomputer control steering gear is designed. The system is based on the acceleration data collected by LSM303 DLH triaxial gyroscope. Through the I2 C protocol,MCU digital transmission,and the calculation of STM32 micro control system,the system is combined with the algorithm to produce the leveling of the corresponding PWM wave and control the rotation Angle of the servo steering gear,realizing the slide surface leveling is realized. The research results show that this system can realize the rotation of the steering gear of two degrees of freedom for 180°,adjustment precision is 10.55 ',levelness error of 0.001 to 0.005,operation time is not more than 3 s,and the production cost is low.
In view of the limitation that the current leveling design mainly focuses on large and medium-sized equipment,a small adjustment device design based on single-chip microcomputer control steering gear is designed. The system is based on the acceleration data collected by LSM303 DLH triaxial gyroscope. Through the I2 C protocol,MCU digital transmission,and the calculation of STM32 micro control system,the system is combined with the algorithm to produce the leveling of the corresponding PWM wave and control the rotation Angle of the servo steering gear,realizing the slide surface leveling is realized. The research results show that this system can realize the rotation of the steering gear of two degrees of freedom for 180°,adjustment precision is 10.55 ',levelness error of 0.001 to 0.005,operation time is not more than 3 s,and the production cost is low.
引文
[1]徐嵩.发射车六点调平系统建模和控制算法研究[D].哈尔滨:哈尔滨工业大学,2017.
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[14]孙晨阳.多尺度遥感影像道路信息提取方法研究[D].重庆:西南大学,2015.
[15]蓝必铁,徐智广.I2C总线在系统中的应用[J].轻工科技,2009(2):76-78.
[16]季宏锋,吴军辉,徐立鸿.I2C总线技术及应用实例[J].微型机与应用,2002,21(12):21-23.
[2]梁霄.TJB320型高空作业车电液比例调平系统的研究[D].锦州:辽宁工业大学,2015.
[3]庄亚政,齐景超,陈小娟.基于扫描反射镜调制的调焦调平系统测试方法研究[J].传感器与微系统,2017,36(10):45-47.
[4]Zhang J,Huang D,Lu C.Research on Dynamic Model and Control Strategy of Auto-Leveling System for Vehicle-Borne Platform[C]//International Conference on Mechatronics and Automation.IEEE,2007:973-977.
[5]孙利生.一种大跨距四点支撑液压自动调平系统[J].液压与气动,2004(7):29-30.
[6]杨红军,李刚炎.基于CAN总线和PLC的车载平台调平控制系统研究[J].制造业自动化,2008,(4):46-49.
[7]孟振飞.基于STM32处理器的水泵控制系统设计与实现[D].西安:西安电子科技大学,2010.
[8]向国菲.基于LSM303DLH的机械臂空间定位[J].科技致富向导,2011,(27):28-28.
[9]代军,苏娅芳,张雪等.PID算法及其演变[J].辽宁省交通高等专科学校学报,2003,5(3):43-44.
[10]何春红.基于PLC的自整定PID算法在废水回收装置的应用[J].现代工业经济和信息化,2017(20).31-33.
[11]杜警,窦艳艳.PWM直流闭环调速系统设计[J].武汉职业技术学院学报,2018(1).92-95.
[12]刘丽梅,孙玉荣,李莉.中值滤波技术发展研究[J].云南师范大学学报(自然科学版),2004,24(1):23-27.
[13]刘海.无线传感器网络基于RSSI的室内定位算法的研究[D].太原:太原科技大学,2012.
[14]孙晨阳.多尺度遥感影像道路信息提取方法研究[D].重庆:西南大学,2015.
[15]蓝必铁,徐智广.I2C总线在系统中的应用[J].轻工科技,2009(2):76-78.
[16]季宏锋,吴军辉,徐立鸿.I2C总线技术及应用实例[J].微型机与应用,2002,21(12):21-23.