云台之家-基于STM32的云台控制-技术论文

基于STM32的云台控制学校：XXXXXXXXXXXX队伍：云台之家组长：XXXXXX队员：XXXXXX队员：XXXXXX指导老师：XXXXX2目录摘要..................................................................................................................................................3Abstract...........................................................................................................................................4第1章绪论.....................................................................................................................................51.1课题研究背景...................................................................................................................51.2国内外云台研究发展现状...............................................................................................51.3本文的主要工作和结构安排...........................................................................................6第2章系统概述.............................................................................................................................82.1STM32F103处理器..........................................................................................................82.1.1STM32F107处理器概述....................................................................................82.1.2STMF103处理器系统结构..................................................................................92.1.3STM32微处理器对电机的控制..........................................................................102.1.4STM32F103处理器低功耗..................................................................................112.2电机的定义及控制原理.................................................................................................112.2.1直流电机定义.....................................................................................................112.2.2直流无刷电机工作原理.....................................................................................12第3章直流电机控制模块...........................................................................................................133.1直流电机驱动电路.........................................................................................................133.1.1直流电机驱动芯片L293D..................................................................................133.2直流电机转速PWM控制.................................................................................................143.3直流电机闭环控制..........................................................................................................153.3.1PID控制算法......................................................................................................15第4章倾角检测模块...................................................................................................................174.1加速度传感器..................................................................................................................174.2测倾角原理......................................................................................................................18第5章基于STM32云台系统硬件设计.......................................................................................215.1驱动电路的介绍.............................................................................................................215.2倾角检测电路的介绍...................................................................................................22第6章基于STM32云台控制系统软件设计...............................................................................236.1软件设计流程图如下...................................................................................................23第7章总结...................................................................................................................................247.1总结.................................................................................................................................243摘要随着经济社会的发展，人们对于想在高空拍摄地面图片的要求越来越高，云台技术得到了迅速发展并逐步开始应用各个领域。为了能够扩大拍摄视野，便于远程操作，常借助于云台，即把摄像机安装在云台上，通过云台转动来带动摄像机转动，同时通过云台控制协议设置摄像机镜头参数，云台在拍摄系统中起着非常重要的作用。而现在又的云台控制系统普遍采用步进电机作为驱动源，存在着稳定性差、功耗大、计数不准确等特点，而采用体积小，节能环保的直流电机作为驱动源的云台控制系统成为研究的热点，并且具有广阔的应用前景。本文提出以低功耗云台设计为出发点的系统设计方案。以现有的单片机技术和控制理论为依托，研究如何从硬件和软件两方面，对系统进行低功耗设计。硬件核心处理器采用的是意法半导体公司的STM32F103芯片，该芯片使用好高性能且低功耗的的ARMCortex-M3处理器。云台驱动源采用低功耗的直流无刷电机，在角度计数方面采用加速度计来检测倾角从而实现云台的精确定位功能。论文采用模块化的设计概念，以STM32处理器为核心，通过外围电机驱动电路来驱动无刷直流电机，实现电机的正传与反转，同时由直流电机的转速与其电枢两端的电压成正比，根据这一特性可通过STM32单片机PWM外设控制直流电机的转速。STM32微处理器根据为角度编写的PID算法来调节PWM输出，保证了云台的匀速、稳定、精确运行。关键词：STM32直流电机驱动PWM陀螺仪4AbstractWiththedevelopmentofeconomyandsociety,peoplewhowanttoshootathighaltitudegroundpictureshavebecomeincreasinglydemanding,PTZtechnologyhasbeendevelopingrapidlyandgraduallybegantoapplyinvariousfields.Tobeabletoshoothorizonsexpand,easyremoteoperation,oftenbymeansofPTZcamerathatismountedonthehead,ledbyheadrotationtorotatethecamera,whilethecameralenscontrolprotocolparameterssetbythehead,theheadintheshootingsystemplaysaveryimportantrole.Andnowtheheadsteppermotorcontrolsystemwidelyusedasadrivingsource,thereisapoorstability,powerconsumption,thecountisnotaccurate,etc.,andtheuseofsmall,energy-savingDCmotorasadrivingsourcetiltcontrolsystembecomeahotresearcha