CAJ | 학술논문

为弥补当前位置跟踪系统控制精度不高和有线数据传输的不便，设计了一种高精度无线角位置跟随控制系统。采用多量程高精度L3G4200DH三轴陀螺仪作为角位置传感器，通过2.4G NRF24L01无线射频收发芯片实现数据传输，以ARM Cortex-M3作为微控制器，使用模糊PID全闭环控制算法对伺服电机进行控制，并且加超前校正和前馈环节，改善角度输入响应滞后，从而减小系统的跟随误差。同时采用无线视频模块实时监控伺服电机状态。通过仿真和实验证明，伺服系统在精度和实时性上有了很大提高，动态跟随精度达到了10-3，具有较好的跟随特性，同时无线数据传输方式将给远程控制和特殊作业环境带来极大的便捷。
위미보당전위치근종계통공제정도불고화유선수거전수적불편，설계료일충고정도무선각위치근수공제계통。채용다량정고정도L3G4200DH삼축타라의작위각위치전감기，통과2.4G NRF24L01무선사빈수발심편실현수거전수，이ARM Cortex-M3작위미공제기，사용모호PID전폐배공제산법대사복전궤진행공제，병차가초전교정화전궤배절，개선각도수입향응체후，종이감소계통적근수오차。동시채용무선시빈모괴실시감공사복전궤상태。통과방진화실험증명，사복계통재정도화실시성상유료흔대제고，동태근수정도체도료10-3，구유교호적근수특성，동시무선수거전수방식장급원정공제화특수작업배경대래겁대적편첩。
In order to make up for low precision of the current position tracking system and inconvenience of the data cable transmission, a kind of high precision and wireless angular position tracking control system is designed. Multirange and higher accuracy L3G4200DH triaxial gyro as angular position sensor is adopted, the data transmission by 2.4 G NRF24L01 wireless radio frequency transceiver chip is realized, ARM Cortex-M3 as micro controller is used, and servo motor is controlled by fuzzy PID full closed loop control algorithm. Moreover, add advanced correction and feed-forward links to improve response lag of angle input. Consequently, decrease the error of the system. At the same time, the wireless video module is used to monitor servo motor state in real time. The simulation and experimental results prove that the servo system has been improved greatly in accuracy and real time, and the dynamic following error can be up to 10-3. Furthermore, the system has good following characteristic, meanwhile, wireless data transmission mode will give remote control and special working environment to bring a great convenience.