电赛-（电赛B题）风力摆控制系统设计（原理图+源代码+设计报告等）.zip

2015 年全国大学生电子设计竞赛

风力摆控制系统（B 题）

2015 年 8 月 15 日

摘 要

本系统采用 STM32F103V 开发板作为控制中心，与万向节、摆杆、直流风

机（无刷电机+扇叶）、激光头、反馈装置一起构成摆杆运动状态与风机速度分

配的双闭环调速系统。单片机输出可变的 PWM 波给电机调速器，控制 4 个方向上

风机的风速，从而产生大小不同的力。利用加速度计模块 MPU6050，准确测出摆

杆移动的位置与中心点位置之间的关系，采样后反馈给单片机，使风机及时矫正，

防止脱离运动轨迹。使用指南针模块判别方向，控制系统向指定方向偏移。控制

feedback device together form the swinging rod motion state and fan speed distribution of

the double closed loop speed regulation system. MCU output variable PWM waves to the

motor speed, control four directions wind speed of the fan, to produce different size. Using

accelerometer module MPU6050, accurately measure the position of swinging rod mobile

and center position, the relationship between the sampling after feedback to the single

chip microcomputer, the fan timely correction, prevent from the trajectory. Use the

compass module judging direction, deviation control system to a specified direction. Using

PID algorithm control method, proportion link for quick response, integral element to

realize astatic, differential link decrease overshoot, speed up the dynamic response. So

that the system has good performance, which can well realize the pendulum movement,

1.1.1 控制方案设计..........................................................................................................1

1.1.2 机械结构方案设计..................................................................................................1

1.2 各部分方案选择与论证.....................................................................................................2

1.2.1 电机选择...................................................................................................................2

1.2.2 电机驱动的选择......................................................................................................2

1.2.3 摆杆与横杆的连接选择..........................................................................................2

1.2.4 摆杆与风机的连接选择..........................................................................................3

二、 系统理论分析与计算.......................................................3

2.1 风力摆位置的计算与分析..................................................................................................3

2.2 风力摆运动状态的分析..............................................................................................3

3.2 程序的设计..........................................................................................................................5

3.2.1 程序功能描述与设计思路.......................................................................................5

3.2.2 程序流程图...............................................................................................................6

四、测试方案与测试结果........................................................6

4.1 测试方案..............................................................................................................................6

4.2 测试条件与仪器..................................................................................................................7

4.3 测试结果及分析..................................................................................................................7

（1）测试结果..................................................................................................................7

（2）测试分析与结论......................................................................................................8

五、结论与心得................................................................8