目 录
摘 要....................................................................................................................................................2
ABSTRACT........................................................................................................................................3
目 录....................................................................................................................................................0
1 绪论..................................................................................................................................................0
1.1 课题背景...............................................................................................................................0
1.2 国内外研究现状和水平.......................................................................................................0
1.3 PID 控制器的发展趋势.......................................................................................................1
2 设计方案与论证..............................................................................................................................2
2.1 设计要求和技术指标...........................................................................................................2
2.1.1 基本功能...................................................................................................................2
2.1.2 技术指标...................................................................................................................2
2.2 系统设计方案.......................................................................................................................2
2.3 控制器模块设计方案...........................................................................................................3
2.4 电机驱动模块设计方案.......................................................................................................3
2.5 速度采集模块设计方案.......................................................................................................4
2.6 显示模块设计方案...............................................................................................................4
2.7 键盘模块设计方案...............................................................................................................5
2.8 电源模块设计方案...............................................................................................................5
2.9 确定方案...............................................................................................................................5
3 硬件电路设计..................................................................................................................................7
3.1 STM32F103C8 最小系统.....................................................................................................7
3.1.1 STM32F103xx 简介..................................................................................................7
3.1.2 STM32F103XX 管脚图与原理图............................................................................7
3.2 4x4 矩阵键盘........................................................................................................................9
3.3 L298N 电机驱动模块...........................................................................................................9
3.4 光电编码器.........................................................................................................................10
3.5 OLED 显示屏......................................................................................................................11
3.5.1 OLED 简介..............................................................................................................11
...........................................................................................................................................11
3.5.2 四线串行信号线选择及时序图..............................................................................11
3.5.3 OLED 驱动芯片 SSD1306......................................................................................12
4 软件设计........................................................................................................................................13
4.1 PID 简介及算法实现.........................................................................................................13
4.1.1 PID 简介...................................................................................................................13
4.1.2 PID 算法实现..........................................................................................................13
4.2 主函数流程图.....................................................................................................................14
4.3 定时中断速度采集.............................................................................................................15
4.3.1 STM32F103xx 通用定时器简介............................................................................15
4.3.2 速度采集原理及定时器流程图.............................................................................16
4.4 外部中断及中断处理流程图.............................................................................................16
