本文選題：循跡小車 + 實(shí)驗教學(xué)平臺�。� 參考：《實(shí)驗技術(shù)與管理》2017年05期

【摘要】：開發(fā)了一套基于STM32單片機(jī)的實(shí)驗教學(xué)平臺。該平臺由電機(jī)、姿態(tài)傳感器、攝像頭硬件架構(gòu)及STM32單片機(jī)最小系統(tǒng)、PID控制算法、互補(bǔ)濾波算法和上位機(jī)軟件組成。該平臺能夠仿真上位機(jī)算法并選擇最佳運(yùn)動狀態(tài)的PID和互補(bǔ)濾波參數(shù),由STM32單片機(jī)產(chǎn)生控制信號驅(qū)動小車循跡和避障,上位機(jī)實(shí)時顯示相關(guān)參數(shù)、平衡狀態(tài)和運(yùn)動狀態(tài)。學(xué)生能夠在平臺中獨(dú)立完成對PID控制算法計算和互補(bǔ)濾波算法參數(shù)調(diào)試。
[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.
【作者單位】： 哈爾濱工程大學(xué)自動化學(xué)院;
【基金】：黑龍江省高等教育學(xué)會“十三五”規(guī)劃重點(diǎn)課題(16Z010) 哈爾濱工程大學(xué)教改重點(diǎn)項目(JG2016BZD05);哈爾濱工程大學(xué)教改重點(diǎn)項目(JG2016YZD04);哈爾濱工程大學(xué)教改重點(diǎn)項目(JG2016BZD07)
【分類號】：G642;TP23-4
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本文編號：2046543