基于STM32轮式机器人姿态系统的综合测试平台设计与实现  

Design and Implementation of Test Platform for Wheeled Robot Attitude System Based on STM32

作　　者：王锋[1] 周翟和[1] 陈如意[1] WANG Feng;ZHOU Zhaihe;CHEN Ruyi(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,china)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械制造与自动化》2018年第3期173-176,共4页Machine Building & Automation

基　　金：国家自然科学基金(61174102);中央高校基本业务费专项资金(NS2014033);江苏省产学研前瞻性联合研究项目(BY2015003-06)

摘　　要：针对高精度轮式机器人姿态系统,设计了一个原始姿态信号检测与滤波算法验证的综合测试平台。平台以STM32控制器为核心,分别对姿态系统的输入输出原始信号进行数据采集、存储、显示与算法验证。为了便于不同特征信号的处理,测试平台采用示波器、MATLAB曲线、GUI界面等多种数据显示方式,便于直观获取信号特征,并对轮式机器人姿态系统进行了实验验证,对采集的原始数据进行卡尔曼滤波算法处理,实验结果表明该平台显示和测试方式灵活多样、功能完整可靠,为高精度姿态系统的开发提供了有效的保障。For the high precision wheeled robot attitude system,this paper designs a synthetic testing platform for the detection of primitive attitude signal and validation of filtering algorithm. STM32 controller is taken as its core in the platform to deal with the raw data,such as data collection,storage,display as well as algorithm validation. To facilitate the processing of the signal with different characteristics,many data display modes,like oscilloscope,MATLAB curve and GUI are provided in the testing plat form for being helpful to obtain the data characteristies and verifying the wheeled robot affituede,then the raw data is processed by the kalman filtering algorithm. The experiment results show the display and testing modes of the synthetic testing platform are flexible and its function is reliable. It can be used to effectively ensure the development of high precision attitude system.

关 键 词：机器人 测试平台 设计 姿态系统 卡尔曼滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]