一种基于STM32的风力摆控制系统设计

Design of a Wind Pendulum Control System Based on STM32

本系统以STM32为核心控制芯片,由姿态采集模块、风力摆模块、人机交互模块及机械结构组成闭环控制系统。姿态采集模块采用六轴加速度陀螺仪MPU6050,采集姿态数据后通过内部集成的DMP处理单元进行姿态角的解算。STM32根据解算得到的角度计算风力摆的状态,通过调节各状态量PID参数实现对风力摆摆动幅度和线性度的控制,将输出量和输入量进行线性分解,控制风力摆完成按指定轨迹运动。本系统受到外部干扰后能快速恢复到指定状态。

This system takes STM32 as the core control chip,and consists of attitude acquisition module,wind pendulum module,human-computer interaction module and mechanical structure,forming a closed-loop control system.Six axis acceleration gyroscope MPU6050 is used in the attitude acquisition module.After collecting the attitude data,the attitude angle is calculated through the internal integrated DMP processing unit.STM32 calculates the state of the wind pendulum according to the angle obtained by the solution,controls the swing amplitude and linearity of the wind pendulum by adjusting the PID parameters of each state quantity,linearly decomposes the volume of output and input,and controls the wind pendulum to move according to the specified track.The system can quickly recover to the specified state after external interference.