基于STM32自适应动态滤波的物料提升机定位系统设计

Design of material hoist positioning system adopting self-adapted dynamic filtering based on STM32

针对物料提升机垂直运输作业中限位装置、红外传感器定位精度不高,稳定性差,无法实时定位,而上位控制器+交直流伺服电机定位成本较高、适用范围窄等问题,设计了一种基于STM32的高精度、低成本物料提升机定位系统,采用STM32F103CBT6作为主控芯片,通过STM32编码器接口对光电编码器A、B相输出脉冲计数,根据定位算法对提升机吊笼位置实时精确定位并传送主控台显示.提出了自适应动态滤波算法,根据电机转速动态设置数字滤波器ICF因子值,完成噪声滤波.经测试系统具有运行稳定,定位精度高、鲁棒性强、实时效果好的特点,现已成功应用于酒厂抓斗定位项目中,其使用的提升机精确定位方案对于工业测量、自动控制等领域具有一定的指导意义和应用价值.

Aiming at the problem that inhibiting device and infrared sensor has bad positional accuracy,poor stability and was unable to locate in real time and that the plan for upper controller＋digital AC servo motor has too high cost and narrow usage range,a material hoist positioning system based on STM32 was introduced,which has the characteristics of high positioning accuracy and low cost. The system uses STM32F103CBT6 as the main control chip and counts the value of the pulse for the encoder AB pins output by the STM32 encoder interface. According to the positioning algorithm,the real-time positioning information of hoist cage was determined and conveyed to the console. A kind of algorithm about self-adapted dynamic filtering was introduced,which can be used to filter out the noise waveform by setting he digital filtering ICF factor scores according to the motor speed. The test results show that system runs stably,and has the characteristics of high accuracy,strong robustness and good real-time. The system has been used in the winery grab location project successfully,and has a certain guiding significance and applied value for industrial measurement,automatic control,and other fields of application.