摘 要

题目来源于2011年全国电子竞赛F题。帆板控制系统是最近几年来引起高度关注的一种智能控制平衡系统，具有广泛的应用前景和十分重要的使用价值，在实际的产业，军事，生活生产中的应用也是非常的广泛。在机械，机器人平衡的控制中,系统平台平衡的自动调整系统有着不容小觑的作用和地位，国内外也都会有类似的研究。

该帆板硬件部分主要由STC89C52RC芯片的单片机开发板、L298N电机驱动模块、型号为ADXL345的角度传感器模块、12V的轴流风机、12V电源模块,LCD1602显示模块组成。该帆板控制系统由单片机作为主控制器，采用的是PID控制算法，通过单片机输出不同占空比的脉冲宽度调制信号（PWM）以此来得到不同的风扇转速，从而使帆板转动的角度改变。然后根据角度传感器所测得的数据与系统实现可靠的闭环反馈控制，从而能够稳定精确的控制帆板的转动角度，达到预期设定的角度，并且通过液晶显示屏显示转角。按键设定角度之后，轴流风机能将帆板吹起相应的角度。其中按键设定角度范围是0-30°。

由于系统存在一定的误差，在0到30°的范围内，调节精度范围≤2°，且调节时间为2s。

关键词：角度检测； PID算法； PWM； 帆板控制； 单片机

Board control system design based on 51 series single chip

Abstract

The subject comes from the 2011 national electronic competition F questions. Board control system design is an automatic balance system caused wide public concern in recent years,it has wide application prospect and particularly important research value. In the actual industry, military, the application of production is particularly widespread. In the balance control of the robot, The balance of automatic adjustment system has important role and status. Also there will be more extensive research at home and abroad.

The design of board control system is mainly composed of a STC89C52RC micro-controller , one L298N motor drive module,the ADXL345 angle transducer, axial-flow fan of 24V, the DC source module of 12V，LCD1602 displayer. The board control system use single chip microcomputer as the main controller, PID algorithm is adopted,. In order to get a different speed , To change the angle of the panels rotation ,through single chip microcomputer output different duty ratio of pulse width modulation signal（PWM）. Then according to the angle sensor feedback signal to realize closed loop control, to be able to stable, automatic ,precise control panels rotation angle,and through LCD1602 displayer to show the angle. The purpose that use this algorithm is to make the system more intelligent and accurate.With fan blowing the panels directly,LCD1602 displayer can display the a rotation angle. Key input set point of view, and then by changing fan speed to change the panels rotation angle,from 0 to 30. Because the system has error, in the range of 0 to 30 degrees, angle remain within 2 ° controlling accuracy, and the adjusting time for 2 seconds.

Key words: angle detection, PID algorithm, PWM，board control, single chip

目 录

第1章 绪论…………………………………………………………………………………….........1

1.1 课题研究的目的及意义………………………………………………………………….…1

1.2 国内外研究现状………………………………………………….........................................1

1.2.1单片机的不同…………………………………………………….,..............................1

1.2.2角度采集方法的不同…………………………………………....................................2

1.2.3控制算法的不同………………………………………................................................2

1.3 本课题研究内容……………………………………………….............................................2

1.4 章节安排…………………………………………….............................................................3

第2章 帆板控制系统硬件设计……………............……………….................................................4

2.1 帆板控制系统整体设计方案................................................................................................4

2.1.1 L298N驱动模块的选定...............................................................................................4

2.1.2 ADXL345角度传感器模块的选定..............................................................................5

2.1.3 LCD1602显示模块的选定..........................................................................................5

2.2 系统硬件结构框图.................................................................................................................6

2.3电机驱动模块 ........................................................................................................................7

2.4角度检测模块 ....................................................................................................................... 8

2.5显示模块..................................................................................................................................9

第3章 帆板控制系统软件设计......................................................................................................10

3.1 工作总流程图.......................................................................................................................11

3.2 电机驱动PWM波模块.......................................................................................................12

3.3 角度模块..............................................................................................................................12