摘要
随着电子科学技术的发展与进步,移动机器人越来越广泛的被应用在各种生产生活范围中,已成为新兴科学技术的宠儿。本文提出一种基于STM32C8T6芯片作为数据处理控制的微处理器,采用了传感器MPU6050为数据测量采集提供实时数据,再通过一阶滤波算法得出相对精确的车身姿态数据,经过数据融合调节两个独立电机的速度,从而到达所预期的小车直立平衡的状态。完成所需要的数据采集、整合、调控等,实现小车运动状态的控制。整个系统分为硬件系统和软件系统:硬件上实现对小车的姿态平衡状态,软件上是实现对小车各个传感器反馈的数据进行科学性分析,从而通过IO口控制独立电机的转动,完成小车自平衡的要求效果。
With the development and progress of electronic science and technology,mobile robots are more and more widely used in various production and living areas,and have become the darling of emerging science and technology.This paper proposes a microprocessor based on STM32C8T6 chip as data processing control.It uses the sensor MPU6050 to provide real-time data for data measurement and acquisition,and then obtains relatively accurate body attitude data through the first-order filtering algorithm.After data fusion,two independent.The speed of the motor,so as to reach the expected state of the car upright balance.Complete the required data collection,integration,regulation,etc.to achieve the control of the movement status of the car.The entire system is divided into a hardware system and a software system:the hardware realizes the attitude balance of the car,and the software implements a scientific analysis of the data fed back by each sensor of the car,so as to control the rotation of the independent motor through the IO port to complete the car self-balancing.The required effect.
作者
杨志强
Yang Zhiqiang(School of Mechanical and Electronic Engineering,East China University of Technology,Nanchang Jiangxi,330013)
出处
《电子测试》
2020年第17期9-11,37,共4页
Electronic Test
