电磁组直立行车参考设计方案

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电磁组直立行车参考设计方案

目 录....................................................................................................................................2
图表索引....................................................................................................................................3
一、前言....................................................................................................................................7
二、原理篇................................................................................................................................9
2.1直立行走任务分解..............................................................................................................9
2.2车模直立控制....................................................................................................................11
2.3 车模角度和角速度测量...................................................................................................19
2.3车模速度控制....................................................................................................................26
2.4车模方向控制....................................................................................................................33
2.6车模直立行走控制算法总图............................................................................................36
三、电路设计篇......................................................................................................................37
3.1整体电路框图....................................................................................................................37
3.2 DSC介绍与单片机最小系统............................................................................................39
3.3倾角传感器电路................................................................................................................42
3.4电机驱动电路....................................................................................................................44
3.5速度传感器电路................................................................................................................45
3.6电磁线检测电路................................................................................................................46
3.7 角度计算电路...................................................................................................................50
3.8 车模控制电路全图...........................................................................................................55
四、机械设计篇......................................................................................................................57
4.1车模简化改装....................................................................................................................57
4.2传感器安装........................................................................................................................59
4.3注意事项............................................................................................................................63
五、软件开发篇......................................................................................................................64
5.1软件功能与框架................................................................................................................65
5.2 DSC的硬件资源配置........................................................................................................68
5.3主要算法及其实现............................................................................................................69
六、车模调试篇......................................................................................................................82
6.1 调试参数...........................................................................................................................82
6.2调试条件............................................................................................................................85
6.3 桌面静态参数调试...........................................................................................................91
6.4 现场动态参数调试.........................................................................................................101
6.5 方案改进与车模整体水平提高.....................................................................................101
七、结束语............................................................................................................................102
附录：....................................................................................................................................103



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