摘要
使用北斗GPS双模定位提高定位精度和可靠性,采用STM8S007单片机作为平衡车的控制处理器。通过串口1从北斗GPS双模定位模块ATGM336H获得北斗和GPS定位信息;通过串口3与四频GPRS模块SIM800A进行通信数据的传送.STM8S007单片机通过1IC接口从MPU6500六轴陀螺仪获取倾角速度和转向角速度,通过比例微分控制两路PWM信号控制电机的转动从而实现平衡车的平衡运行。该方案采用高性价比的STM8芯片,功耗低、速度快,模块化设计体积小巧。
Beidou GPS dual-mode positioning is used to improve positioning accuracy and reliability, and STM8S007 is used as the control processor of the balancing vehicle. The positioning information of Beidou and GPS is obtained from ATGM336H through UARTl. The data is transmitted through UART3 to four-frequency GPRS module SIM800A. The STM8S007 microcontroller obtains oblique and steering angular velocity from MPU6500 six-axis gyro-scope through IIC interface, and controls the rotation of motor by two PWM signals. Thus it realizes the balanced opera-tion of the vehicle. The scheme uses the STM8 chip which can get the fast and compact modular design with high cost performance and low power consumption.
作者
张远海
翁佩纯
ZHANG Yuan-hai;WENG Pei-chun(Zhongshan Torch Polytechnic,Zhongshan 528436,China;Zhongshan Institute,University of Electronic Science and Technology of China,Zhongshan 528400,China)
出处
《仪表技术》
2019年第10期17-19,37,共4页
Instrumentation Technology
基金
中山市科技计划项目(2017B1137)
