基于STM32的循迹平衡小车实验教学平台研究

发布时间：2018-06-21 01:24

  本文选题：循迹小车 + 实验教学平台　； 参考：《实验技术与管理》2017年05期

【摘要】：开发了一套基于STM32单片机的实验教学平台。该平台由电机、姿态传感器、摄像头硬件架构及STM32单片机最小系统、PID控制算法、互补滤波算法和上位机软件组成。该平台能够仿真上位机算法并选择最佳运动状态的PID和互补滤波参数,由STM32单片机产生控制信号驱动小车循迹和避障,上位机实时显示相关参数、平衡状态和运动状态。学生能够在平台中独立完成对PID控制算法计算和互补滤波算法参数调试。
[Abstract]:A set of experimental teaching platform based on STM 32 single chip computer is developed. The platform consists of motor, attitude sensor, camera hardware architecture, STM32 single chip microcomputer minimum system pid control algorithm, complementary filtering algorithm and PC software. The platform can simulate the algorithm of upper computer and select pid and complementary filtering parameters of optimal motion state. STM32 single chip computer can generate control signal to drive track and avoid obstacles. The upper computer can display related parameters, balance state and motion state in real time. Students can independently complete the pid control algorithm calculation and complementary filtering algorithm parameters debugging in the platform.
【作者单位】： 哈尔滨工程大学自动化学院;
【基金】：黑龙江省高等教育学会“十三五”规划重点课题(16Z010) 哈尔滨工程大学教改重点项目(JG2016BZD05);哈尔滨工程大学教改重点项目(JG2016YZD04);哈尔滨工程大学教改重点项目(JG2016BZD07)
【分类号】：G642;TP23-4
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本文编号：2046543