摘要
针对自由摆平板控制系统,为了实现平板的转动控制,完成硬币激光灯一系列操作,设计制作了一套基于ARM9和STM32的自由摆平板控制系统,实现了电机对自由摆系统中平板的状态控制。系统以ARM9+STM32为核心,由伺服控制系统结合编码器、角速度传感器、单轴陀螺仪,采用工作频率可达400MHz以上的S3C2440处理器并嵌入实时性很高的UCOS-II系统为主控制器,及时的处理采集回来的数据,使用增量式闭环控制算法实现电机精确控制,完成平板的转动控制。整个系统精度高,抗干扰能力强,实现了平板的转动、硬币的状态调整以及激光的投射控制。
Control system for free pendulum,to realize flat rotation control and accomplish a series of operations of a coin laser light,a flat control system based on free pendulum is designed,which realizes the flat control in a free pendulum system based on ARM9 and STM32.The system takes ARM9 and STM32 as the core,combined encoder, angular velocity sensor, single axis gyroscope by servo control system,the operating frequency can reach S3C2440 above the 400 MHz processor and embedded real-time,UCOS-II system is the main controller,timely processing of the collected data,and uses an incremental closed-loop control algorithm for the accurate control of the stepper motor and further the rotation control of the flat.The whole system has a high precision and strong anti-interference capability.It realizes the flat rotation,coin state adjustment and laser projection control.
出处
《电子设计工程》
2016年第11期91-94,101,共5页
Electronic Design Engineering
基金
2014年度省级教学成果奖培育项目(53-SC140404)
