一种高精度随动油门杆设计

The Design of High Accuracy Throttle in the Servo Operation Mode

针对无人机的自动驾驶需求,以STM32F103CBT6微控制器为主控芯片,设计了高精度输出且具备随动功能的油门杆。本设计采用了高精度的霍尔传感器,配合多级的减速齿轮组,在软件内集成了滤波算法,从而实现油门手柄可以在任意位置驻停并输出16位的稳定位置数据,并通过RS422接口将数据发送给上位计算机。同时采用了光耦继电器控制电机的电源,满足了油门杆在随动、手动工作状态下的油门控制要求。经测试验证并在某型号系统上使用,证明油门的输出数据位数达到了16位,随动精度达到0.5°。

Aiming at the autopilot needs of UAVs,the throttle stick with high precision output and follow function is designed with STM32F103CBT6 microcontroller as the main control chip.This design adopts a high-precision Hall sensor and multi-stage reduction gear set,and integrates filtering algorithm within the software,so that the throttle handle can be parked at any position and output 16-bit stable position data,and send the data to the upper computer through the RS422 interface.At the same time,an optocoupler relay is used to control the power supply of the motor,which meets the throttle control requirements under the following and manual working state.After testing and verification and used on a model system,it is proved that the number of throttle output data bits reaches 16 bits,and the accuracy of the follower reaches 0.5°.