摘要
基于RISC-V架构下的无剑SoC芯片平台设计与实现多自由度双轴跟踪电动云台控制器,从系统总体构造、核心模块设计、电机运动控制等方面展开介绍,利用九轴姿态测量传感器采集载体的姿态信息,采用实时开环/闭环模式控制57/42步进电机分别作方位和俯仰运动,实现全方位大空间中快速精确运转。原型系统实测结果表明,所提出的方案有效可行,能够控制电机协同工作实现快速随动定位。
A multi-degree-of-freedom dual axis tracking electric pan-tilt controller was designed and implemented based on the Wujian SoC core platform with RISC-V srtucture.The carrier s information was measured by a nine-axis attitude measurement sensor and fed into the real-time open-loop/closed-loop controller to control the 57/42 stepper motors for azimuth and pitching respectively from the overall system structure,core module design,motor movement control and other aspects to achieve all-round large space fast and accurate operation.The experimental results of the prototype system show that the proposed scheme is effective and feasible,and can control the coordinated motors to achieve rapid and accurate positioning.
作者
李伟博
李珈毅
张志明
翁锦煜
许春权
LI Wei-bo;LI Jia-yi;ZHANG Zhi-ming;WENG Jin-yu;XU Chun-quan(College of Electronics and Information Engineering,Tongji University,Shanghai 200092,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2022年第2期47-51,共5页
Instrument Technique and Sensor
基金
国家自然科学基金项目(51775382)
教育部高等教育司2019年度第二批产学合作协同育人项目(201902016059)
同济大学2020年双一流引导专项本科生学科竞赛专项立项项目(4250145303)。
关键词
电动云台控制器
双轴跟踪
SoC开源平台
步进电机
姿态传感器
外设单元
electrical pan-tilt controller
double-axis tracking
SoC open platform
step motors
attitude sensor
peripheral units
