| 基于MPU6050和步进电机的高精度转动控制方法 |
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| 引用本文： | 徐夏怡,宫瑶,李玉衡,姚磊,易映萍. 基于MPU6050和步进电机的高精度转动控制方法[J]. 软件, 2020, 0(2): 39-43 |
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| 作者姓名： | 徐夏怡 宫瑶 李玉衡 姚磊 易映萍 |
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| 作者单位： | ;1.上海理工大学机械工程学院 |
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| 基金项目： | 国家青年科学基金项目(批准号：51707121) |
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| 摘 要： | 本文设计了一种以STM32F407ZGT6为控制核心的高精度转动控制系统,该系统采用MPU6050姿态传感器作为信号采集元件,通过数字运动处理器(DMP)对原始数据进行四元数解算得到准确、可靠的姿态信息,并以两相混合式步进电机作为执行元件,结合增量式闭环控制算法,实现高精度的转动控制。通过搭建转动控制系统的实验平台,验证了该控制方法的可行性。该方法对其他需要姿态检测和旋转控制的嵌入式系统提供了一定的参考价值。
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| 关 键 词： | 转动控制 步进电机 MPU6050传感器 闭环控制 |
Method of Rotation Control in High Accuracy Based on MPU6050 and Stepping Motor |
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| XU Xia-yi,GONG Yao,LI Yu-heng,YAO Lei,YI Ying-ping. Method of Rotation Control in High Accuracy Based on MPU6050 and Stepping Motor[J]. Software, 2020, 0(2): 39-43 |
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| Authors: | XU Xia-yi GONG Yao LI Yu-heng YAO Lei YI Ying-ping |
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| Affiliation: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | This paper designs a high precision rotation control system with STM32F407ZGT6 as the control core.The system uses MPU6050 gesture sensor as the signal acquisition element,calculates the quaternion of the original data to obtain accurate and reliable attitude information by digital motion processor(DMP),and uses two-phase hybrid stepping motor as the executive element.Combined with incremental closed-loop control algorithm,the system realizes high-precision rotation control.The feasibility of the control method is verified by setting up an experimental platform of the rotation control system.This method provides some reference value for other embedded systems which need gesture detection and rotation control. |
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| Keywords: | Rotation control Stepping motor MPU6050 sensor Closed-loop control |
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