自适应平衡调整系统的研制毕业设计【毕业论文+CAD图纸全套】.doc

目 录 摘 要 1 关键词 1 1系统方案确定 2 1.1题目解析 2 1.2系统总体设计方案 4 1.2.1单片机处理模块设计 4 1.2.2传感器模块设计 5 1.2.3驱动模块设计 8 1.2.4驱动电机 9 2理论分析与计算 9 2.1平板状态测量 9 2.2自由摆运动周期分析 9 2.3自由摆运动过程分析 9 2.4激光照射模块 10 3电路的分析与计算 11 3.1单片机处理模块电路设计 11 3.2角度信号采集电路设计 13 3.3信号补偿电路设计 14 3.4驱动电路设计 16 3.4.1H桥驱动电路 16 3.4.2使能控制和方向逻辑 18 4系统程序设计 20 4.1角度传感器程序设计 20 5测试结果与结论 21 5.1调试方法与仪器 21 5.2测试数据完整性 21 6结束语 23 参考文献 23 致 谢 24 附录 24  自适应平衡调整系统的研制 摘 要：系统由驱动部分和控制部分组成，驱动部分采用H桥驱动，控制部分由ARM单片机STM 32、角度探测与采集电路、误差补偿电路、接收信号电路与发射信号电路组成。整个系统由传感器部分作为主要控制部分，调整部分为受控部分，受传感器的控制，使放在平板上的硬币和激光笔保持平稳。电路用陀螺仪进行角度的探测，用SPI和I2C总线通信，每个环节都配有必要的反馈、前馈和保护电路，角度探测电路就配有过压保护和过流保护，ARM 单片机上面同样配有过压保护和限流保护，而且使用的是外部晶振，有足够的能力对系统里面的数据进行运算。本系统成本低，通信模块稳定，控制部分功耗低廉，电源利用率高，满足设计要求。 关键词：H桥驱动电路；STM32ARM单片机；陀螺仪；外部晶振； The Research of Adaptive Balanced System Abstract: The system was consisted of the driving parts and control parts, with the H-bridge driver forcing the driving part. Exactly, the control sections were composed of the ARM microcontroller STM 32, the angle of detection and data acquisition circuit, error compensation circuit, the circuit of the received signal and the emission signal circuit. The sensor parts were the mainly controlled by the operation sections of the system to manage other adjusting parts. Handled by the sensor, the coins on the plate, and laser pointer were available of remaining stable. SPI and I2C bus communication was used to transmit the date from Angle detection circuit gyroscope, with detection circuits for the over voltage and over current protection. Similarly, ARM MCU was also capable of over-voltage protection and current limiting protection. Moreover, it was equipped with an external crystal, which had sufficient caliber to operate the system. Overall, this system was obtaining the stability of the communication module, economical, and efficiently, which met the requirements. Key words: H-bridge driver circuit; STM32ARM microcontroller; gyroscope; external crystal; 1 系统方案确定 1.1 题目解析 根据命题要求，设计并制