基于无剑SoC开源平台的二自由度云台控制系统  

2-DOF Pan-tilt Control System Based on Wujian SoC Open Platform

作　　者：李伟博 李珈毅 张志明[1] 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)

机构地区：[1]同济大学电子与信息工程学院,上海200092

出　　处：《仪表技术与传感器》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)。

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.

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 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]