基于双反馈和ARM的IMU转位控制系统设计与实现

The Design and Implementation of IMU Location System Based on Double-Feedback and ARM

本文讨论寻北系统对IMU转位的特殊要求,提出速度与位置双反馈转位控制方案,并与单反馈控制系统的静态、动态特性进行比较分析,结合数字式伺服控制模式给出其实现方案。最终设计出以ARM7LPC2114控制器为核心的嵌入式转位控制系统,辅以外围芯片与接口电路。该32位ARM控制器减小了嵌入式系统的体积、提高代码的执行效率,充分发挥数字控制器的优点。实验结果分析表明,该系统转位迅速、到位精确,有较强的抗扰动性与鲁棒性,有广泛借鉴价值。

According to the characteristic of IMU location in north find system, A design of double feedback from speed and position was introduced in the paper.Meanwhile it analysed comparatively dynamic and static capability with the control system which included single feedback from position.h described control scheme with digital servo mode.An embeded IMU rotating location system based on ARM7 was designed.LPC2114 of PHILIPS company was combined with 32-bit processor,other circuits and interfaces.useing this controller can not only simplified structure and progamming,but also exert merit of digital controller in IMU location system.The results get by testing show that IMU located accurately and fleetly.The system can operate reliably, it had good anti-interference performance,robustness and widely application.