基于陀螺仪与伺服舵机的自动安平系统设计

Automatic horizontal control system based on gyroscope and servo steering gear

针对目前传统的安平系统在实用性和适用性未能满足多方面要求,无法解决同时兼顾安平范围、调节精度和响应速度的问题,根据三轴陀螺仪传感器与伺服舵机控制原理,设计了一种新型的自动安平系统,通过三轴陀螺仪传感器检测重力加速度方向以获取倾角信息,由STM32F103系列微控制器对采集获取的数据进行了数字滤波和分析计算等处理,并结合PWM脉宽调制技术和PID算法控制伺服舵机机组,实现了双自由度的水平调节,并且对系统的机械结构进行了优化设计,有效增大了安平范围。研究结果表明,该自动安平系统在-90°^+90°范围内的调节精度达到10′33″,水平度误差控制在0.1%~0.5%范围之内,调整时间小于2 s,相对于其他安平系统,具有更低的生产成本和更高的自动化程度。

Aiming at the applicability and serviceability of traditional horizontal control systems which can not satisfy various requirements,to solve the problem that the leveling range,adjusting accuracy and response speed can not be considered at the same time,according to the principles of gyroscopic sensor and servo steering gear control,a new type of automatic horizontal control system was developed.With the three-axis gyroscope sensor detecting the direction of the acceleration of gravity to gain dip information,and digital filtering and analysis by the STM32F103 microcontroller on the data collected,combined with PWM pulse width modulation technology and PID algorithm to control the servo unit,the adjustment of two degrees of freedom was completed.And the mechanical structure of the system was optimally designed,effectively increasing the leveling range.The results indicate that the regulation accuracy of this automatic horizontal control system below 10′33″and the range of-90°～＋90° can be achieved,and the horizontal error can be controlled within the range of 0.1％～0.5％.In addition,the adjustment time is less than 2 s,and relative to other horizontal adjustment systems,it has lower production costs and a higher degree of automation.