基于MEMS技術(shù)的移動機(jī)器人方位角速度的測量

摘  要
微型移動機(jī)器人控制領(lǐng)域，嵌入式系統(tǒng)有著廣泛應(yīng)用；移動速度是否穩(wěn)定直接決定機(jī)器人控制效果的好壞。本文主要設(shè)計(jì)了一種基于嵌入式系統(tǒng)的微型移動機(jī)器人方位角速度的測量的數(shù)據(jù)采集系統(tǒng)。以輪式移動機(jī)器人為平臺進(jìn)行方案設(shè)計(jì)，過程設(shè)計(jì)以及成果演示。本文設(shè)計(jì)的控制系統(tǒng)由硬件和軟件兩部分構(gòu)成，硬件主要由STM32F102VE處理器和LY503ALH陀螺儀構(gòu)成，實(shí)現(xiàn)對微型移動機(jī)器人行走角速度的實(shí)時(shí)測量。軟件部分是通過基于MDK環(huán)境的C語言開發(fā)平臺上進(jìn)行設(shè)計(jì)。實(shí)驗(yàn)已實(shí)現(xiàn)微型機(jī)器人角速度測量，最終通過了硬件測試平臺對程序進(jìn)行的測試。該設(shè)計(jì)的目的就是通過STM32處理器獲取陀螺儀的測量數(shù)據(jù)，精確達(dá)到LY503ALH給出的技術(shù)指標(biāo)。結(jié)果表明，數(shù)據(jù)測量準(zhǔn)確，達(dá)到了技術(shù)指標(biāo)的要求。
關(guān)鍵詞：微型移動機(jī)器人；STM32處理器；LY503陀螺儀；MDK編譯環(huán)境
MEMS-based mobile robot azimuth velocity measurement
Abstract
In the field of micro mobile robot control, embedded systems are widely applied. Speed directly determines the stability of the robots’ performance. In this thesis, the data acquisition system of azimuth angular velocity is designed based on STM32 processor and LY503ALH MEMS gyroscope. Process design and the results of the design are all based on the wheeled mobile robot platform. The system has two parts: one is hardware and another is software. The data acquisition system is to realize the real-time measurement of the  angular velocity. The software is designed base on C language in the development platform MDK. Angular velocity measurement has been realized by experiments. Finally, program is passed to the test of the hardware platform. The design objective is to get datas measured by LY503ALH, through STM32 processor. The results show that the system can meet the desired requirement. 

Key words: STM32; LY503 gyroscope; embedded systems; MDK; CC2431; C language
 目  錄
1 緒  論 1
1.1 課題背景 1
1.2 研究現(xiàn)狀 2
1.3 課題任務(wù)及要求 3
1.4 課題內(nèi)容及安排 4
1.5 STM32系列控制器的簡介 4
1.5.1 STM32微控制器的主要優(yōu)點(diǎn) 4
1.5.2 存儲器和總線的結(jié)構(gòu) 5
1.5.3 電源控制 6
1.5.4 復(fù)位和時(shí)鐘控制 7
1.5.5 通用I/O和復(fù)用I/O 7
1.5.6 中斷和事件 8
1.5.7 DMA控制器 9
1.5.8 實(shí)時(shí)時(shí)鐘(RTC) 10
1.5.9 內(nèi)部集成電路接口 11
1.5.10 串行外設(shè)接口（SPI） 12
1.5.11 模/數(shù)轉(zhuǎn)換器（ADC） 13
2 總體方案設(shè)計(jì) 16
2.1 硬件方案設(shè)計(jì) 16
2.2 軟件方案設(shè)計(jì) 17
3 硬件設(shè)計(jì) 20
3.1  STM32主控制單元 20
3.2 陀螺儀傳感器LY503 21
3.3 復(fù)位電路的制作 22
3.4 時(shí)鐘電路的制作 23
4 軟件設(shè)計(jì) 24
4.1 固件庫的介紹 24
4.2 軟件的總體設(shè)計(jì) 25
4.3 時(shí)鐘初始化子程序 26
4.4  I/O口初始化子程序 28
4.5 中斷設(shè)置子程序 29
4.6  STM32的A/D轉(zhuǎn)換子程序 29
4.7  CC2431的A/D轉(zhuǎn)換子程序 31
4.8  MDK軟件介紹 33
5 系統(tǒng)調(diào)試 34
5.1 調(diào)試方案 34
5.1. 1 硬件調(diào)試方案 34
5.1.2 軟件調(diào)試方案 35
5.2 故障調(diào)試及解決方法 36
5.3 聯(lián)調(diào)結(jié)果 37
結(jié)  論 38
社會經(jīng)濟(jì)效益分析 39
參考文獻(xiàn) 40
致  謝 41
附錄I 程序清單 42
附錄Ⅱ 元器件清單 54