直立最新設計方案

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

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

3、..........................................................................10圖22車模傾角會引起車速速度變化..............................................................................................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通過車輪運動保持車模

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動............................................................................

7、..........................14圖29在車輪上的參照系中車模受力分析......................................................................................14圖210車模控制兩個系數(shù)作用........................................................................

8、................................16圖211車模運動方程........................................................................................................................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車模運動引起加速度信號波動.......................

11、.....................................................................21圖217實際測量MMA7260Z軸信號...............................................................................................21圖218車模運動引起加速度Z軸信號變化..............

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電機速度檢測..........................................................................................................

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車模運動速度控制簡化模型.......................................

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

20、....................................................................................................32圖234改進后的速度和角度控制方案............................................................................................32圖235檢測道

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中斷服務程序...........................................................

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

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

25、............................................................................................72圖57電機死區(qū)補償.....................................................................................................................

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

27、..................84圖63車模運動坐標定義..................................................................................................................85圖64電源檢查..................................................................

28、................................................................86圖65單片機串口通信......................................................................................................................86圖66PWM信號輸出..............

29、...........................................................................................................87圖67采集電機光電碼盤信號..................................................................................................

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

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

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

33、.........................................................................90圖614F8013內(nèi)部FLASH應用劃分.................................................................................................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測量加速度傳感器的極值....................................................................................................92圖618測量陀螺傳感器比例因子，角度補償回路斷開.................................................................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角度補償時間常數(shù)調(diào)整...........................................

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

40、..................................................................................................100附錄圖71參考設計方案視頻截圖........................................................................................................

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...................................................................................