直立最新設(shè)計(jì)方案

1、圖表索引第一章圖11電磁組車模直立運(yùn)行模式........................................................................................................7圖12參考設(shè)計(jì)方案內(nèi)容...................................................................................

2、..................................8圖13車模制作路線圖........................................................................................................................9第二章圖21車?？刂迫蝿?wù)分解........................................

3、..........................................................................10圖22車模傾角會(huì)引起車速速度變化..............................................................................................10圖23三層控制之間相互配合...................

4、.......................................................................................11圖24保持木棒直立的反饋控制......................................................................................................12圖25通過車輪運(yùn)動(dòng)保持車模

5、直立..................................................................................................12圖26車模簡化成倒立的單擺.........................................................................................................

6、.13圖27普通單擺受力分析..................................................................................................................13圖28不同阻尼力下的單擺運(yùn)動(dòng)............................................................................

7、..........................14圖29在車輪上的參照系中車模受力分析......................................................................................14圖210車?？刂苾蓚€(gè)系數(shù)作用........................................................................

8、................................16圖211車模運(yùn)動(dòng)方程........................................................................................................................16圖212加入比例微分反饋后的系統(tǒng)框圖....................................

9、....................................................17圖213電機(jī)在不同電壓下的速度變化曲線....................................................................................18圖214加速度傳感器原理.................................................

10、...............................................................19圖215MMA7260三軸加速度傳感器..............................................................................................20圖216車模運(yùn)動(dòng)引起加速度信號(hào)波動(dòng).......................

11、.....................................................................21圖217實(shí)際測(cè)量MMA7260Z軸信號(hào)...............................................................................................21圖218車模運(yùn)動(dòng)引起加速度Z軸信號(hào)變化..............

12、.......................................................................22圖219角速度傳感器及參考放大電路.............................................................................................22圖220角速度積分得到角度......................

13、......................................................................................23圖221角速度積分漂移現(xiàn)象............................................................................................................23圖222通過重力加

14、速度來矯正陀螺儀的角度漂移........................................................................24圖223雙加速度傳感器獲得車模角加速度....................................................................................25圖224角度控制框圖..................

15、......................................................................................................25圖225電機(jī)速度檢測(cè)..........................................................................................................

16、..............26圖226車模傾角給定........................................................................................................................27圖227車模傾角控制速度中的正反饋.......................................................

17、.....................................28圖228車模傾角控制分析................................................................................................................29圖229車模運(yùn)動(dòng)速度控制簡化模型.......................................

18、.........................................................29圖230增加微分控制后的系統(tǒng)........................................................................................................30圖231改進(jìn)的微分控制..............................

19、......................................................................................30圖232車模角度和速度控制框圖....................................................................................................31圖233速度角度控制方案的改進(jìn)

20、....................................................................................................32圖234改進(jìn)后的速度和角度控制方案............................................................................................32圖235檢測(cè)道

21、路中心電磁線方式....................................................................................................33..............................................................................................................

22、...........64第五章圖51主程序框架..............................................................................................................................65圖52中斷服務(wù)程序...........................................................

23、...............................................................66圖53任務(wù)中斷時(shí)間波形..................................................................................................................67圖54算法框圖中與控制相關(guān)的軟件函數(shù)..........

24、............................................................................70圖55控制函數(shù)調(diào)用與參數(shù)傳遞關(guān)系..............................................................................................71圖56程序中變量命名規(guī)范..................

25、............................................................................................72圖57電機(jī)死區(qū)補(bǔ)償.....................................................................................................................

26、.....78第六章圖61調(diào)試車模參數(shù)復(fù)雜而關(guān)鍵......................................................................................................82圖62需要調(diào)整的參數(shù)和相關(guān)的單位............................................................................

27、..................84圖63車模運(yùn)動(dòng)坐標(biāo)定義..................................................................................................................85圖64電源檢查..................................................................

28、................................................................86圖65單片機(jī)串口通信......................................................................................................................86圖66PWM信號(hào)輸出..............

29、...........................................................................................................87圖67采集電機(jī)光電碼盤信號(hào)..................................................................................................

30、........87圖68陀螺儀、加速度傳感器AD采集信號(hào)....................................................................................88圖69車模靜態(tài)參數(shù)調(diào)整桌面............................................................................................

31、..............88圖610車模動(dòng)態(tài)參數(shù)調(diào)試場(chǎng)地.........................................................................................................89圖611監(jiān)控軟件界面.........................................................................

32、...............................................89圖612無線遙控開關(guān)........................................................................................................................90圖613無線通信模塊進(jìn)行參數(shù)監(jiān)控.......................

33、.........................................................................90圖614F8013內(nèi)部FLASH應(yīng)用劃分.................................................................................................91圖615需要整定的傳感器參數(shù)............

34、............................................................................................91圖616車模保持垂直靜止................................................................................................................92

35、圖617測(cè)量加速度傳感器的極值....................................................................................................92圖618測(cè)量陀螺傳感器比例因子，角度補(bǔ)償回路斷開.................................................................93圖619幾種不同陀螺儀比

36、例因子角度輸出....................................................................................94圖620車?？刂茀?shù).....................................................................................................................

37、...95圖621角度參數(shù)調(diào)整過程................................................................................................................96圖622速度參數(shù)調(diào)整過程.............................................................................

38、...................................97圖623方向參數(shù)調(diào)整過程................................................................................................................98圖624角度補(bǔ)償時(shí)間常數(shù)調(diào)整...........................................

39、.............................................................99圖625Z軸附加信號(hào)分析................................................................................................................100圖626死區(qū)常數(shù)調(diào)整....................

40、..................................................................................................100附錄圖71參考設(shè)計(jì)方案視頻截圖........................................................................................................

41、103圖72參數(shù)整定與調(diào)試指南............................................................................................................104圖73軟件控制算法全圖...................................................................................