摘要
为保证移动平台在复杂环境中具有良好的动态响应特性,设计了一种以STM32F405单片机为控制核心,基于Mecanum轮的全方位移动平台。采用基于Mecanum轮的H桥驱动电路,利用大电流、低阻抗的MOS管提高电机的驱动能力,应用LM2903,LMV611实现过电流、过电压保护功能;利用增量式PID控制策略,抑制电机启动电流,改善动态性能;将采集的视频信息通过无线图传发送给控制台,利用遥控器对移动平台进行实时控制。测试结果表明,移动平台运动灵活,越障能力强,实时性和可控性满足项目设计要求。
To ensure the good dynamic response characteristics of the mobile platform in complex environments,a Mecanum wheel-based omni-directional mobile platform with STM32F405 as the command core was designed.H bridge driving circuit based on Mecanum wheels was used in this design.With MOS transistor of high current and low impedance to increase the motor＇s drive ability,LM2903 and LMV611to achieve the function of overcurrent and overvoltage protection,and incremental PID control strategy to inhibit the motor＇s starting current and to improve the dynamic performance,this platform sent the collected video information through wireless image transmission to the console which controlled the platform in real time by using remote control.Test results show that this mobile platform has the advantage of flexible movement and strong obstacle climbing capability and can meet the project design demands for realtime performance and controllability.
出处
《山东科技大学学报（自然科学版）》
CAS
2016年第1期86-90,96,共6页
Journal of Shandong University of Science and Technology(Natural Science)
基金
中国博士后基金项目(2015T80729)
