【正文】 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 本科畢業(yè)設(shè)計(jì) 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 摘 要 姿態(tài)角是一個(gè)非常重要的參數(shù)。在工業(yè)、農(nóng)業(yè)和軍事等各個(gè)領(lǐng)域中，都需要用姿態(tài)角反饋目標(biāo)載體的運(yùn)動(dòng)狀況。隨著當(dāng)今科學(xué)技術(shù)的高速發(fā)展，高新技術(shù)在現(xiàn)代化農(nóng)業(yè)中應(yīng)用越加廣泛，農(nóng)業(yè)現(xiàn)代化需要以智能化的技術(shù)作支撐。而在實(shí)現(xiàn)智能化過程中，需要對檢測目標(biāo)的運(yùn)動(dòng)狀況進(jìn)行實(shí)時(shí)反饋以進(jìn)行控制。因此，采集姿態(tài)角的數(shù)據(jù)以反饋目標(biāo)載體運(yùn)動(dòng)狀況在智能化設(shè)備中尤為重要。 本文提出一種基于 ADXL345 三軸加速度計(jì)、 L3G4200 三軸陀螺儀傳感器和 HMC5883磁阻傳感器的姿態(tài)角檢測系統(tǒng)。該系統(tǒng)采用了基于 ARM CortexM3 內(nèi)核的STM32f103VCT6 單片機(jī)作主控芯片，采集和處理 ADXL34 L3G4200 和 HMC5883 的數(shù)據(jù)得到姿態(tài)角數(shù)據(jù)，利用 nRF24L01 無線模塊發(fā)送到接收顯示模塊上進(jìn)行數(shù)據(jù)顯示。通過 nRF24L01 無線發(fā)送接收模塊，可以實(shí)現(xiàn)姿態(tài)角的實(shí)時(shí)檢測的功能。 通過實(shí)驗(yàn)測試分析，結(jié)果表明，采用 ADXL34 L3G4200 和 HMC5883 的三者的數(shù)據(jù)融合處理后得出的數(shù)據(jù)絕對誤差小于 10%。 關(guān)鍵字 ： 單片機(jī) 無線模塊 加速度計(jì) 陀螺儀 磁阻傳感器 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) Monitor the Attitude Angle of Agricultural Machinery Vehicle Wu Bangbin (College of Engineering,South China Agricultural University,Guangzhou 510642,China) Abstract:Attitude angle is a very important paramete. In various fields of industry, agriculture and military,there needs attitude angle to give feedback on the movement of the target the rapid development of today 39。s science and technology, Hightech applications bee increasingly and widely used in modern agriculture, thus the modernization of agriculture needs to be supported by intelligent technology. In the process of realization of intelligent, it needs to control realtime feedback on the status of the motion of the detection ,the data collected by attitude angle to give feedback on target carrier movement of intelligent devices is particularly important. This paper presents an attitude angle detection system based on ADXL345 threeaxis accelerometer,L3G4200 three axis gyro sensor and HMC5883 magoresistive sensor. The system uses STM32F103VCT6 ARM CortexM3 corebased microcontroller as the master chip. Through acquisition and processing data from ADXL345, L3G4200 and HMC5883, attitude angle data was obtained. Then, nRF24L01 sent the obtained information to the receiver on whose display module shows realtime data. Through wireless transmission, function of realtime detection can be realized. Through the experimental analysis, the results show that abse of the data after being pocessed the fusion by using ADXL345, L3G4200 and HMC5883 is less than 10%. Keywords: SCM nRF24L01 acceleration sensor Gyroscope Magoresistive sensor 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 目 錄 1 前言 .........................................................................................................................................1 2 系統(tǒng)方案分析與選擇論證 ...................................................................................................1 系統(tǒng)方案設(shè)計(jì) .................................................................................................................. 1 主控芯片方案 .............................................................................................................. 1 無線通信模塊方案 ...................................................................................................... 2 陀螺儀、加速度 計(jì)傳感器方案 .................................................................................. 2 顯示模塊方案 .............................................................................................................. 3 系統(tǒng)最終方案 .................................................................................................................. 4 3 主要芯片介紹和系統(tǒng)模塊硬件設(shè)計(jì) ...................................................................................4 STM32F103VCT6 模塊 .................................................................................................. 4 nRF24L01 無線模塊 ....................................................................................................... 6 無線模塊原理圖 .......................................................................................................... 6 接口電路 .................................................................................................................... 6 寄存器配置 .................................................................................................................. 7 供電電源 ........................................................................................................................ 8 陀螺儀傳感器 .................................................................................................................. 8 L3G4200 三軸陀螺儀 ................................................................................................. 8 陀螺儀電路圖 .............................................................................................................. 8 L3G4200 陀螺 儀工作特點(diǎn) ......................................................................................... 9 加速度計(jì)傳感器 .............................................................................................................. 9 ADXL345 三軸加速度計(jì) ........................................................................................... 9 加速度計(jì)電路圖 ........................................................................................................ 10 ADXL345 工作特點(diǎn) ................................................................................................. 11 磁阻傳感器 ...................................................................................................................... 11 HMC5883 磁阻傳感器 ............................................................................................... 11 HMC5883 電路圖 ........................................................................................................ 11 HMC5883 工作特點(diǎn) ................................................................................................... 11 ATmega16 單片機(jī)模塊 ................................................................................................. 12 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 4 系統(tǒng)軟件設(shè)計(jì) .......................................................................................................................12 單片機(jī)軟件設(shè)計(jì) ...............................................