无人机舵机控制系统的硬件设计与实现  

Hardware Design and Implementation for a Servo System of UAV Rudder

作　　者：杨百平[1] 杨金孝[1] 赵强[1] 

机构地区：[1]西北工业大学电子信息学院,陕西西安710129

出　　处：《计算机测量与控制》2010年第5期1076-1078,共3页Computer Measurement &Control

摘　　要：给出了一种基于STM32F103VB微控制器的无人机全数字舵机控制系统硬件实现方案,该方案以STM32F103VB作为主控芯片,无刷直流电机作为该系统的伺服电机,采用三闭环的控制策略,实现了脉宽调制(PWM)控制信号的采样和输出,通过采样PWM信号实现舵机的控制,针对无人机对数据传输实时性的要求,利用CAN总线与上位机通讯,很好地满足了要求;该系统具有成本低廉、安全可靠且实现容易的特点,实现了舵机控制系统的数字化与小型化;经多次试验,证明是安全实用的。A set of fully--digital--signal servo system based on STM32F103VB for UAV electromechanical rudder is introduced in this paper. It takes STM32F103VB as the master control unit and brushless DC motor as its drive. This project uses the digital three closed-loop control strategy, sampled and generated pulse width modulation wave, through sampling one of the PWM waves to realize control transfer, in view of UAV to data transmission timeliness request, communicated with upper system by CAN bus. It featured low cost, safe, easy to realize, made it smaller and digital, and was testified that the system is applicable and safety.

关 键 词：STM32F103VB微控制器 无人机 伺服 电动舵机 

分 类 号：TP274.5[自动化与计算机技术—检测技术与自动化装置]