摘要
本设计是在STM32F407VET6硬件平台上实现的一款基于体感控制技术的智能工程车,设计的主体结构由控制器端和小车端两部分组成.其中控制器端的体感控制部分借助MPU6050六轴传感器模块实现,其采集完控制器的姿态数据后,经自带DMP库进行解算得出相应的姿态解算数据,MCU再进行相应公式的换算,并调用相关的函数完成控制过程.整个系统采用蓝牙通信,为了达到精确控制的目的,运用PID算法完成相关控制过程.此外,还拓展摇杆按键和手机APP两种控制方式,可在不同的应用场景下切换不同的控制方式.
This design is an intelligent engineering vehicle based on somatosensory control technology,which is implemented on STM32F407VET6 hardware platform.The main structure of the design consists of two parts:the controller end and the car end.The somatosensory control part of the controller is realized by means of the six-axis sensor module of MPU6050.After collecting the attitude data of the controller,the corresponding attitude calculation data are obtained by the DMP library.then The MCU converts the corresponding formulas and calls the relevant functions to complete the control process.The whole system uses Bluetooth communication in order to achieve the purpose of accurate control,and the PID algorithm is used to complete the relevant control process.In addition,the design also expands remote sensing keys and mobile phone APP control mode,so that different control modes can be switched in different application scenarios.
作者
汤莉莉
程升强
黄伟
TANG Lili;CHENG Shengqiang;HUANG Wei(College of Computer and Information Engineering, Zhixing College of Hubei University, Wuhan 430011, China;System Design Institute of Hubei Aerospace Technology Academy, Wuhan 430040, China)
出处
《湖北大学学报（自然科学版）》
CAS
2020年第4期411-415,共5页
Journal of Hubei University：Natural Science
基金
国家自然科学基金(61301144)
湖北省教育厅科学技术研究基金(B2018405)资助。
关键词
体感技术
姿态解析
蓝牙通信
摇杆
手机APP
PID算法
sensory technology
attitude analysis
Bluetooth communication
remote sensing
mobile APP
PID algorithm
