【導讀】單片機、C語言等前沿學科的技術的日趨成熟與實用化，使得舵機的控。制系統(tǒng)有了新的的研究方向與意義。本文描述了一個由STM32微處理器、舵機、LCD. 顯示器、鍵盤等模塊構成的，提供基于STM32的PWM信號舵機的控制系統(tǒng)。結果表明該系統(tǒng)具有結構簡單、工作可靠、精度高等特點.

　　

【正文】 方科技學院畢業(yè)設計 （論文） 30 附錄 I 電路 原理圖 VCC02GND04GND16GND28GND310GND412GND514GND616GND718GND820VCC11NTRST3TDI5TMS7TCK9RTCK11TDO13NRST15NC017NC119J6JTAGCP6100nFPB4PA15PA13PA14PB3NRSTX112MHzC127pFC227pFOSC_INOSC_OUTPWM_BLPA3PA10PA11PA12PA13PA14PA15PB2PB3PB4PB5PD14PD15PC15PC14PC13LCD_RDLCD_RWLCD_RSLCD_RSTLCD_CSLD[17]OSC_INOSC_OUTNRSTBOOT0CPU 單元R2100KBOOT094NC73NRST14OSC_IN12OSC_OUT13PA0WKUP/USART2_CTS/ADC_IN0/TIM2_CH1_ETR23PA1/USART2_RTS/ADC_IN1/TIM2_CH224PA2/USART2_TX/ADC_IN2/TIM2_CH325PA3/USART2_RX/ADC_IN3/TIM2_CH426PA4/SPI1_NSS/USART2_CK/ADC_IN429PA5/SPI1_SCK/ADC_IN530PA6/SPI1_MISO/ADC_IN6/TIM3_CH131PA7/SPI1_MOSI/ADC_IN7/TIM3_CH232PA8/USART1_CK/TIM1_CH1/MCO67PA9/USART1_TX/TIM1_CH268PA10/USART1_RX/TIM1_CH369PA11 / USART1_CTS/CANRX / USBDM (2)/TIM1_CH470PA12 / USART1_RTS/CANTX / USBDP (2)/TIM1_ETR71PA13/JTMS/SWDIO72PA14/JTCK/SWCLK76PA15/JTDI77PB0/ADC_IN8/TIM3_CH335PB1/ADC_IN9/TIM3_CH436PB2/BOOT137PB3/JTDO89PB4/JNTRST90PB5/I2C1_SMBAl91PB6/I2C1_SCL/TIM4_CH192PB7/I2C1_SDA/TIM4_CH293PB8/TIM4_CH395PB9/TIM4_CH496PB10/I2C2_SCL/USART3_TX47PB11/I2C2_SDA/USART3_RX48PB12/SPI2_NSS/I2C2_SMBA/USART3_CK/TIM1_BKIN51PB13/SPI2_SCK/USART3_CTS/TIM1_CH1N52PB14/SPI2_MISO/USART3_RTS/TIM1_CH2N53PB15/SPI2_MOSI/TIM1_CH3N54PC0/ADC_IN1015PC1/ADC_IN1116PC2/ADC_IN1217PC3/ADC_IN1318PC4/ADC_IN1433PC5/ADC_IN1534PC663PC764PC865PC966PC1078PC1179PC1280PC13TAMPERRTC7PC14OSC32_IN8PC15OSC32_OUT9PD0/FSMC_D281FSMC_D382PD2/TIM3_ETR/UART5_RX83PD3/FSMC_CLK84PD4/FSMC_NOE85PD5/FSMC_NWE86PD6/FSMC_NWAIT87PD7/FSMC_NE1/FSMC_NCE288PD8/FSMC_D1355PD9/FSMC_D1456PD10/FSMC_D1557PD11/FSMC_A1658PD12/FSMC_A1759PD13/FSMC_A1860PD14/FSMC_D061PD15/FSMC_D162PE0/TIM4_ETR/FSMC_NBL097PE1/FSMC_NBL198PE2/TRACECLK/FSMC_A231PE3/TRACED0/FSMC_A192PE4/TRACED1/FSMC_A203PE5/TRACED2/FSMC_A214PE6/TRACED3/FSMC_A225PE7/FSMC_D438PE8/FSMC_D539PE9/FSMC_D640PE10/FSMC_D741PE11/FSMC_D842PE12/FSMC_D943PE13/FSMC_D1044PE14/FSMC_D1145PE15/FSMC_D1246VREF20VREF+21U1STM32F103VEPD13PD12PD11PD10PD9PD8PD7PD6PD5PD4PD3PD2PD1PD0PE0PE1PE2PE10PE9PE8PE7PE6PE5PE4PE3PA8PE15PE14PE11PE12PE133V318KR6100nFC7GNDSC8GND100nFC8GND1KR7Res TapGND3v3SC8100nFC6GND10KR53V3X2C3C4SC8100nFC610KR53V3123P12GND5VAD 輸入 沈陽航空航天大學北方科技學院畢業(yè)設計 （論文） 31 PD14PD15PC15PC14PC13LCD_RDLCD_RWLCD_RSLCD_RSTLCD_CSCPU 單元BOOT094NC73NRST14OSC_IN12OSC_OUT13PA0WKUP/USART2_CTS/ADC_IN0/TIM2_CH1_ETR23PA1/USART2_RTS/ADC_IN1/TIM2_CH224PA2/USART2_TX/ADC_IN2/TIM2_CH325PA3/USART2_RX/ADC_IN3/TIM2_CH426PA4/SPI1_NSS/USART2_CK/ADC_IN429PA5/SPI1_SCK/ADC_IN530PA6/SPI1_MISO/ADC_IN6/TIM3_CH131PA7/SPI1_MOSI/ADC_IN7/TIM3_CH232PA8/USART1_CK/TIM1_CH1/MCO67PA9/USART1_TX/TIM1_CH268PA10/USART1_RX/TIM1_CH369PA11 / USART1_CTS/CANRX / USBDM (2)/TIM1_CH470PA12 / USART1_RTS/CANTX / USBDP (2)/TIM1_ETR71PA13/JTMS/SWDIO72PA14/JTCK/SWCLK76PA15/JTDI77PB0/ADC_IN8/TIM3_CH335PB1/ADC_IN9/TIM3_CH436PB2/BOOT137PB3/JTDO89PB4/JNTRST90PB5/I2C1_SMBAl91PB6/I2C1_SCL/TIM4_CH192PB7/I2C1_SDA/TIM4_CH293PB8/TIM4_CH395PB9/TIM4_CH496PB10/I2C2_SCL/USART3_TX47PB11/I2C2_SDA/USART3_RX48PB12/SPI2_NSS/I2C2_SMBA/USART3_CK/TIM1_BKIN51PB13/SPI2_SCK/USART3_CTS/TIM1_CH1N52PB14/SPI2_MISO/USART3_RTS/TIM1_CH2N53PB15/SPI2_MOSI/TIM1_CH3N54PC0/ADC_IN1015PC1/ADC_IN1116PC2/ADC_IN1217PC3/ADC_IN1318PC4/ADC_IN1433PC5/ADC_IN1534PC663PC764PC865PC966PC1078PC1179PC1280PC13TAMPERRTC7PC14OSC32_IN8PC15OSC32_OUT9PD0/FSMC_D281FSMC_D382PD2/TIM3_ETR/UART5_RX83PD3/FSMC_CLK84PD4/FSMC_NOE85PD5/FSMC_NWE86PD6/FSMC_NWAIT87PD7/FSMC_NE1/FSMC_NCE288PD8/FSMC_D1355PD9/FSMC_D1456PD10/FSMC_D1557PD11/FSMC_A1658PD12/FSMC_A1759PD13/FSMC_A1860PD14/FSMC_D061PD15/FSMC_D162PE0/TIM4_ETR/FSMC_NBL097PE1/FSMC_NBL198PE2/TRACECLK/FSMC_A231PE3/TRACED0/FSMC_A192PE4/TRACED1/FSMC_A203PE5/TRACED2/FSMC_A214PE6/TRACED3/FSMC_A225PE7/FSMC_D438PE8/FSMC_D539PE9/FSMC_D640PE10/FSMC_D741PE11/FSMC_D842PE12/FSMC_D943PE13/FSMC_D1044PE14/FSMC_D1145PE15/FSMC_D1246VREF20VREF+21U1STM32F103VEPD13PD12PD11PD10PD9PD8PD7PD6PD5PD4PD3PD2PD1PD0PE0PE1PE2PE10PE9PE8PE7PE6PE5PE4PE3PE15PE14PE11PE12PE13 沈陽航空航天大學北方科技學院畢業(yè)設計 （論文） 32 圖 PWM信號 沈陽航空航天大學北方科技學院畢業(yè)設計 （論文） 33 圖 舵機的轉動 圖 舵機轉角的顯示 沈陽航空航天大學北方科技學院畢業(yè)設計 （論文） 34 圖 基于 STM32的舵機控制系統(tǒng) 沈陽航空航天大學北方科技學院畢業(yè)設計 （論文） 35 附錄Ⅱ 程序 清單 include include //include include /**\ 端口定義 | \*