第30卷第12期
2013年12月
机电工程
Journal of Mechanical & Electrical Engineering
Vol. 30 No. 12
Dec. 2013
DQI:10.3969/j.issn.1001-4551.2013.12.015
基于陀螺仪与伺服舵机的自动安平系统设计
郑思航,陈永良* ,李 琛 ,任峻辰
( 中国计量学院质量与安全工程学院,浙 江 杭 州 310000)
摘要:针对目前传统的安平系统在实用性和适用性未能满足多方面要求,无法解决同时兼顾安平范围、调节精度和响应速度的问
题,根据三轴陀螺仪传感器与伺服舵机控制原理,设计了一种新型的自动安平系统,通过三轴陀螺仪传感器检测重力加速度方向以
获取倾角信息,由STM32F103系列微控制器对采集获取的数据进行了数字滤波和分析计算等处理,并结合PWM脉宽调制技术和
PID算法控制伺服舵机机组,实现了双自由度的水平调节,并且对系统的机械结构进行了优化设计,有效增大了安平范围。研究结果
表明,该自动安平系统在-90°~+90°范围内的调节精度达到10'33",水平度误差控制在0.1%~0.5%范围之内,调整时间小于2 s,相对
于其他安平系统,具有更低的生产成本和更高的自动化程度。
关键词:自动安平;三轴陀螺仪;伺服舵机;STM32
中图分类号:TH7; TH122; TP272 文献标志码:A 文章编号:1001-4551(2013)12-1509-06
Automatic horizontal control system based on gyroscope
and servo steering gear
ZHENG Si-hang,CHEN Yong-liang,LI-Chen,REN Jun-chen
(College of Quality and Safety Engineering,China Jiliang University,Hangzhou 310000,China)
Abstract: Aiming at the applicability and serviceability of traditional horizontal control systems which can not satisfy various
requirements, to solve the problem that the leveling range, adjusting accuracy and response speed can not be considered at the same time,
according to the principles of gyroscopic sensor and servo steering gear control, a new type of automatic horizontal control system was
developed. With the three-axis gyroscope sensor detecting the direction of the acceleration of gravity to gain dip information, and digital
filtering and analysis by the STM32F103 microcontroller on the data collected, combined with PWM pulse width modulation technology
and PID algorithm to control the servo unit, the adjustment of two degrees of freedom was completed. And the mechanical structure of the
system was optimally designed, effectively increasing the leveling range. The results indicate that the regulation accuracy of this automatic
horizontal control system below 10'33"and the range of -900~+900 can be achieved,and the horizontal error can be controlled within the
range of 0.1%~0.5%. In addition, the adjustment time is less than 2 s, and relative to other horizontal adjustment systems, it has lower
production costs and a higher degree of automation.
Key words: automatic leveling
; three-axis gyroscope; servo steering gear; STM32
0 引 言
目前,在建筑、测量及各类工程安装行业使用的
水平/垂直测距仪、激光发射仪、汽车前照灯等装置中,
自动安平技术得到了十分广泛的应用卜2。同时,随着
科学技术的高速发展,在生产生活中人们对仪器设备
工作的精确度、响应速度等要求也愈来愈高。设计一
种能够实现高精度、快响应、低成本的新型的自动安
平系统,具有较高的实用价值f 。
目前,市场上大部分的安平系统采用摆锤配合磁
阻尼方式、电子式或是机械式的水平调节机制
收稿日期:2013-07-02
作者简介:郑思航(19 9 1 -),男 ,浙 江 余 姚 人,主要从事电子测量及微机自动化控制方面的研究. E-m ail: 1000604114@cjlu.cdu.cn
通信联系人:陈 永 良,男 ,教授. E-m ail: cimcyl@cjlu.cdu.cn
第30卷第12期
2013年12月
机电工程
Journal of Mechanical & Electrical Engineering
Vol. 30 No. 12
Dec. 2013
DQI:10.3969/j.issn.1001-4551.2013.12.015
基于陀螺仪与伺服舵机的自动安平系统设计
郑思航,陈永良* ,李 琛 ,任峻辰
( 中国计量学院质量与安全工程学院,浙 江 杭 州 310000)
摘要:针对目前传统的安平系统在实用性和适用性未能满足多方面要求,无法解决同时兼顾安平范围、调节精度和响应速度的问
题,根据三轴陀螺仪传感器与伺服舵机控制原理,设计了一种新型的自动安平系统,通过三轴陀螺仪传感器检测重力加速度方向以
获取倾角信息,由STM32F103系列微控制器对采集获取的数据进行了数字滤波和分析计算等处理,并结合PWM脉宽调制技术和
PID算法控制伺服舵机机组,实现了双自由度的水平调节,并且对系统的机械结构进行了优化设计,有效增大了安平范围。研究结果
表明,该自动安平系统在-90°~+90°范围内的调节精度达到10'33",水平度误差控制在0.1%~0.5%范围之内,调整时间小于2 s,相对
于其他安平系统,具有更低的生产成本和更高的自动化程度。
关键词:自动安平;三轴陀螺仪;伺服舵机;STM32
中图分类号:TH7; TH122; TP272 文献标志码:A 文章编号:1001-4551(2013)12-1509-06
Automatic horizontal control system based on gyroscope
and servo steering gear
ZHENG Si-hang,CHEN Yong-liang,LI-Chen,REN Jun-chen
(College of Quality and Safety Engineering,China Jiliang University,Hangzhou 310000,China)
Abstract: Aiming at the applicability and serviceability of traditional horizontal control systems which can not satisfy various
requirements, to solve the problem that the leveling range, adjusting accuracy and response speed can not be considered at the same time,
according to the principles of gyroscopic sensor and servo steering gear control, a new type of automatic horizontal control system was
developed. With the three-axis gyroscope sensor detecting the direction of the acceleration of gravity to gain dip information, and digital
filtering and analysis by the STM32F103 microcontroller on the data collected, combined with PWM pulse width modulation technology
and PID algorithm to control the servo unit, the adjustment of two degrees of freedom was completed. And the mechanical structure of the
system was optimally designed, effectively increasing the leveling range. The results indicate that the regulation accuracy of this automatic
horizontal control system below 10'33"and the range of -900~+900 can be achieved,and the horizontal error can be controlled within the
range of 0.1%~0.5%. In addition, the adjustment time is less than 2 s, and relative to other horizontal adjustment systems, it has lower
production costs and a higher degree of automation.
Key words: automatic leveling
; three-axis gyroscope; servo steering gear; STM32
0 引 言
目前,在建筑、测量及各类工程安装行业使用的
水平/垂直测距仪、激光发射仪、汽车前照灯等装置中,
自动安平技术得到了十分广泛的应用卜2。同时,随着
科学技术的高速发展,在生产生活中人们对仪器设备
工作的精确度、响应速度等要求也愈来愈高。设计一
种能够实现高精度、快响应、低成本的新型的自动安
平系统,具有较高的实用价值f 。
目前,市场上大部分的安平系统采用摆锤配合磁
阻尼方式、电子式或是机械式的水平调节机制
收稿日期:2013-07-02
作者简介:郑思航(19 9 1 -),男 ,浙 江 余 姚 人,主要从事电子测量及微机自动化控制方面的研究. E-m ail: 1000604114@cjlu.cdu.cn
通信联系人:陈 永 良,男 ,教授. E-m ail: cimcyl@cjlu.cdu.cn