{"id":101393,"date":"2026-09-06T18:49:37","date_gmt":"2026-09-06T10:49:37","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101393.html"},"modified":"2026-09-06T18:49:37","modified_gmt":"2026-09-06T10:49:37","slug":"%e3%80%90%e5%b5%8c%e5%85%a5%e5%bc%8f%e3%80%91%e4%bc%a0%e6%84%9f%e5%99%a8%e5%88%b0%e6%89%a7%e8%a1%8c%e5%99%a8%ef%bc%9a%e4%b8%80%e6%9d%a1%e6%8e%a7%e5%88%b6%e4%bf%a1%e5%8f%b7%e5%9c%a8%e7%a1%ac%e4%bb%b6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101393.html","title":{"rendered":"\u3010\u5d4c\u5165\u5f0f\u3011\u4f20\u611f\u5668\u5230\u6267\u884c\u5668\uff1a\u4e00\u6761\u63a7\u5236\u4fe1\u53f7\u5728\u786c\u4ef6\u4e2d\u7ecf\u5386\u4e86\u4ec0\u4e48"},"content":{"rendered":"

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    \u7535\u6d41\u4e5f\u662f\u5982\u6b64\u3002\u7535\u673a\u7ed5\u7ec4\u91cc\u7684\u7535\u6d41\u4e0d\u80fd\u76f4\u63a5\u8fde\u5230 ADC \u5f15\u811a，\u901a\u5e38\u8981\u5148\u7ecf\u8fc7\u91c7\u6837\u7535\u963b\u6216\u970d\u5c14\u4f20\u611f\u5668，\u518d\u7531\u8fd0\u7b97\u653e\u5927\u5668\u8c03\u5230\u5408\u9002\u91cf\u7a0b，\u5fc5\u8981\u65f6\u8fd8\u8981\u505a\u9694\u79bb\u548c\u4f4e\u901a\u6ee4\u6ce2\u3002\u82e5\u8fd9\u4e00\u6bb5\u6a21\u62df\u524d\u7aef\u7684\u589e\u76ca\u3001\u96f6\u70b9\u6216\u5e26\u5bbd\u8bbe\u8ba1\u4e0d\u5f53，\u540e\u9762\u518d\u7cbe\u5bc6\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2，\u4e5f\u53ea\u662f\u5728\u5904\u7406\u4e00\u4efd\u8d77\u70b9\u5df2\u7ecf\u5931\u771f\u7684\u6570\u636e\u3002
    \n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    \u91c7\u96c6\u4e0d\u662f\u201c\u628a\u7ebf\u63a5\u5230 MCU \u4e0a\u201d\u3002\u4f20\u611f\u5668\u8f93\u51fa\u3001\u6a21\u62df\u524d\u7aef\u3001ADC\/\u5b9a\u65f6\u5668\u548c\u8f6f\u4ef6\u6362\u7b97\u5171\u540c\u51b3\u5b9a\u63a7\u5236\u5668\u770b\u89c1\u7684\u72b6\u6001\u3002<\/p>\n

    \u53ef\u4ee5\u628a\u4f20\u611f\u5668\u63a5\u53e3\u5206\u6210\u4e24\u7c7b：<\/p>\n\n\u63a5\u53e3\u7c7b\u578b\u5178\u578b\u5bf9\u8c61MCU \u5b9e\u9645\u5728\u505a\u4ec0\u4e48\u8bbe\u8ba1\u65f6\u6700\u8be5\u786e\u8ba4\u4ec0\u4e48<\/tr>\n\n\n\n
    \u6a21\u62df\u91cf\u63a5\u53e3<\/td>\n\u7535\u6d41\u3001\u6e29\u5ea6\u3001\u7535\u4f4d\u5668\u3001\u538b\u529b\u4f20\u611f\u5668<\/td>\n\u5728\u786e\u5b9a\u65f6\u523b\u628a\u7535\u538b\u8f6c\u6362\u6210\u6570\u5b57\u7801\u503c<\/td>\n\u91cf\u7a0b\u3001\u53c2\u8003\u7535\u538b\u3001\u6297\u6df7\u53e0\u3001\u504f\u7f6e\u3001ADC \u91c7\u6837\u65f6\u95f4<\/td>\n<\/tr>\n
    \u6570\u5b57\u91cf\u63a5\u53e3<\/td>\n\u589e\u91cf\u7f16\u7801\u5668\u3001\u7edd\u5bf9\u503c\u7f16\u7801\u5668\u3001IMU\u3001\u667a\u80fd\u9a71\u52a8\u5668<\/td>\n\u8ba1\u6570\u8fb9\u6cbf\u3001\u6355\u83b7\u65f6\u95f4\u6233\u6216\u8bfb\u53d6\u901a\u4fe1\u5e27<\/td>\n\u5206\u8fa8\u7387\u3001\u901a\u4fe1\u5ef6\u8fdf\u3001\u4e22\u5e27\u3001\u6821\u9a8c\u3001\u540c\u6b65\u65f6\u523b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u8fd9\u4e5f\u662f\u201c\u8bfb\u53d6\u4e00\u4e2a\u4f20\u611f\u5668\u201d\u80cc\u540e\u9690\u85cf\u7684\u7b2c\u4e00\u5c42\u5de5\u7a0b\u542b\u4e49：\u540c\u6837\u53eb\u8bfb\u6570，ADC \u7684\u4e00\u6b21\u8f6c\u6362\u3001\u7f16\u7801\u5668\u7684\u4e00\u6b21\u8ba1\u6570\u3001\u603b\u7ebf\u6536\u5230\u7684\u4e00\u5e27\u6570\u636e，\u4ee3\u8868\u7684\u771f\u5b9e\u65f6\u95f4\u5e76\u4e0d\u5929\u7136\u76f8\u540c\u3002<\/p>\n

    \n

    \u4e09\u3001\u6570\u636e\u8fdb\u5165 MCU \u540e，\u5148\u522b\u6025\u7740\u63a7\u5236：\u8981\u8ba9\u7801\u503c\u91cd\u65b0\u62e5\u6709\u7269\u7406\u5355\u4f4d\u4e0e\u65f6\u95f4<\/h3>\n

    \u65e0\u8bba\u6765\u81ea ADC \u8fd8\u662f\u5916\u8bbe\u5bc4\u5b58\u5668，\u521a\u8fdb\u5165\u7a0b\u5e8f\u7684\u6570\u636e\u90fd\u53ea\u662f\u6574\u6570\u3002\u6bd4\u5982\u589e\u91cf\u7f16\u7801\u5668\u7684\u8ba1\u6570\u503c N[k]N[k]<\/span><\/span>N<\/span>[<\/span>k<\/span>]<\/span><\/span><\/span><\/span><\/span>，\u53ea\u6709\u7ed3\u5408\u6bcf\u5708\u8ba1\u6570 NCPRN_{\\\\text{CPR}}<\/span><\/span>N<\/span><\/span>CPR<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3001\u51cf\u901f\u6bd4 GG<\/span><\/span>G<\/span><\/span><\/span><\/span><\/span> \u548c\u96f6\u4f4d\u504f\u7f6e，\u624d\u80fd\u8fd8\u539f\u4e3a\u5173\u8282\u89d2\u5ea6：
    \n\u03b8[k]=2\u03c0G\u2009NCPR(N[k]\u2212N0)
    \n\\\\theta[k]=\\\\frac{2\\\\pi}{G\\\\,N_{\\\\text{CPR}}}\\\\bigl(N[k]-N_0\\\\bigr)
    \n<\/span><\/span>\u03b8<\/span>[<\/span>k<\/span>]<\/span><\/span>=<\/span><\/span><\/span><\/span><\/span><\/span>G<\/span><\/span>N<\/span><\/span>CPR<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>2<\/span>\u03c0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span><\/span>N<\/span>[<\/span>k<\/span>]<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>N<\/span><\/span>0<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u8fd9\u6761\u5f0f\u5b50\u5e76\u4e0d\u590d\u6742，\u4f46\u5b83\u63d0\u9192\u6211\u4eec：\u6570\u636e\u6b63\u786e\u4e0d\u7b49\u4e8e\u7269\u7406\u610f\u4e49\u6b63\u786e\u3002 \u7f16\u7801\u5668\u8f6c\u4e00\u5708\u5bf9\u5e94\u7684\u662f\u7535\u673a\u8f74，\u8fd8\u662f\u5173\u8282\u8f74？\u6b63\u65b9\u5411\u4e0e\u6570\u5b66\u6a21\u578b\u662f\u5426\u4e00\u81f4？\u5f00\u673a\u65f6\u7684\u96f6\u4f4d\u5728\u54ea\u91cc？\u8fd9\u4e9b\u95ee\u9898\u82e5\u6ca1\u6709\u5728\u63a5\u53e3\u5c42\u7edf\u4e00，\u63a7\u5236\u5668\u4f1a\u7528\u5b8c\u5168\u81ea\u6d3d\u7684\u8ba1\u7b97\u53bb\u63a7\u5236\u4e00\u4e2a\u65b9\u5411\u6216\u5c3a\u5ea6\u90fd\u9519\u4e86\u7684\u5bf9\u8c61\u3002<\/p>\n

    \u901f\u5ea6\u7684\u60c5\u51b5\u66f4\u80fd\u8bf4\u660e\u201c\u65f6\u95f4\u201d\u7684\u91cd\u8981\u6027\u3002\u8f6f\u4ef6\u5e38\u7528\u76f8\u90bb\u6837\u672c\u5dee\u5206：
    \n\u03c9[k]\u2248\u03b8[k]\u2212\u03b8[k\u22121]Ts
    \n\\\\omega[k]\\\\approx\\\\frac{\\\\theta[k]-\\\\theta[k-1]}{T_s}
    \n<\/span><\/span>\u03c9<\/span>[<\/span>k<\/span>]<\/span><\/span>\u2248<\/span><\/span><\/span><\/span><\/span><\/span>T<\/span><\/span>s<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u03b8<\/span>[<\/span>k<\/span>]<\/span><\/span>\u2212<\/span><\/span>\u03b8<\/span>[<\/span>k<\/span><\/span>\u2212<\/span><\/span>1<\/span>]<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u4f46\u5b83\u9690\u542b\u4e86\u4e24\u4e2a\u524d\u63d0：\u76f8\u90bb\u4e24\u6b21\u4f4d\u7f6e\u6570\u636e\u5bf9\u5e94\u76f8\u540c\u7684\u91c7\u6837\u95f4\u9694，\u4e14\u4f4d\u7f6e\u5206\u8fa8\u7387\u8db3\u591f\u7ec6\u3002\u4f4e\u901f\u65f6，\u7f16\u7801\u5668\u53ef\u80fd\u8fde\u7eed\u51e0\u4e2a\u5468\u671f\u6ca1\u6709\u65b0\u589e\u8ba1\u6570；\u9ad8\u9891\u632f\u52a8\u65f6，\u901a\u4fe1\u5e27\u53c8\u53ef\u80fd\u6bd4\u63a7\u5236\u5468\u671f\u66f4\u65e7\u3002\u6b64\u65f6\u901f\u5ea6\u4f30\u8ba1\u7684\u6296\u52a8，\u4e0d\u4e00\u5b9a\u6765\u81ea\u63a7\u5236\u7b97\u6cd5，\u800c\u53ef\u80fd\u53ea\u662f\u91c7\u96c6\u65f6\u6807\u548c\u5206\u8fa8\u7387\u7684\u81ea\u7136\u7ed3\u679c\u3002<\/p>\n

    \u56e0\u6b64，\u72b6\u6001\u5728\u771f\u6b63\u4ea4\u7ed9\u63a7\u5236\u5f8b\u4e4b\u524d，\u81f3\u5c11\u8981\u56de\u7b54\u56db\u4e2a\u95ee\u9898：<\/p>\n

  • \u5b83\u662f\u4ec0\u4e48\u5355\u4f4d？ \u4f0f\u7279\u3001\u7801\u503c\u3001\u8f6c\u5b50\u89d2\u8fd8\u662f\u5173\u8282\u89d2，\u5fc5\u987b\u660e\u786e；<\/li>\n
  • \u5b83\u8868\u793a\u54ea\u4e2a\u65f6\u523b？ \u91c7\u6837\u89e6\u53d1\u65f6\u3001DMA \u5b8c\u6210\u65f6\u3001\u8fd8\u662f\u901a\u4fe1\u5e27\u5230\u8fbe\u65f6；<\/li>\n
  • \u5b83\u6709\u591a\u53ef\u4fe1？ \u91cf\u5316\u8bef\u5dee\u3001\u566a\u58f0\u3001\u96f6\u504f\u4e0e\u4e22\u5e27\u662f\u5426\u5728\u53ef\u63a5\u53d7\u8303\u56f4\u5185；<\/li>\n
  • \u5b83\u4e0e\u5176\u4ed6\u72b6\u6001\u662f\u5426\u540c\u6b65？ \u89d2\u5ea6\u3001\u7535\u6d41\u4e0e IMU \u82e5\u6765\u81ea\u4e0d\u540c\u65f6\u95f4\u70b9，\u72b6\u6001\u5411\u91cf\u5c31\u4e0d\u662f\u540c\u4e00\u77ac\u95f4\u7684\u7cfb\u7edf\u5feb\u7167\u3002<\/li>\n

    \u524d\u4e00\u8282\u8ba8\u8bba\u201c\u91c7\u6837\u5468\u671f\u201d\u65f6，\u91cd\u70b9\u662f\u591a\u4e45\u770b\u4e00\u6b21\u73b0\u5b9e；\u8fd9\u4e00\u8282\u8865\u4e0a\u7684\u662f：\u6bcf\u6b21\u770b\u89c1\u7684\u5230\u5e95\u662f\u4ec0\u4e48\u3001\u53c8\u662f\u5728\u54ea\u4e00\u523b\u770b\u89c1\u7684\u3002<\/p>\n

    \n

    \u56db\u3001\u4ece u[k]u[k]<\/span><\/span>u<\/span>[<\/span>k<\/span>]<\/span><\/span><\/span><\/span><\/span> \u5230 PWM：\u63a7\u5236\u5668\u8f93\u51fa\u7684\u662f\u610f\u56fe，\u4e0d\u662f\u7535\u673a\u7aef\u7684\u771f\u5b9e\u7535\u538b<\/h3>\n

    \u5047\u8bbe\u4f4d\u7f6e\u73af\u3001\u901f\u5ea6\u73af\u6216 MPC \u6700\u540e\u7ed9\u51fa\u4e86\u4e00\u4e2a\u547d\u4ee4 u[k]u[k]<\/span><\/span>u<\/span>[<\/span>k<\/span>]<\/span><\/span><\/span><\/span><\/span>\u3002\u5b83\u53ef\u80fd\u4ee3\u8868\u76ee\u6807\u7535\u538b\u3001\u76ee\u6807\u7535\u6d41\u3001\u76ee\u6807\u529b\u77e9，\u4e5f\u53ef\u80fd\u53ea\u662f\u5f52\u4e00\u5316\u540e\u7684\u5360\u7a7a\u6bd4\u3002\u65e0\u8bba\u54ea\u4e00\u79cd，MCU \u7684 GPIO \u5f15\u811a\u90fd\u6ca1\u6709\u80fd\u529b\u76f4\u63a5\u9a71\u52a8\u7535\u673a；\u5b83\u901a\u5e38\u53ea\u8f93\u51fa\u5e45\u5ea6\u5f88\u5c0f\u3001\u9a71\u52a8\u80fd\u529b\u6709\u9650\u7684\u903b\u8f91\u7535\u5e73\u3002<\/p>\n

    \u5b9a\u65f6\u5668\u628a\u8fd9\u4e2a\u6570\u5b57\u547d\u4ee4\u8f6c\u6210 PWM（Pulse Width Modulation）\u8109\u51b2\u3002\u4f8b\u5982，\u82e5\u4e00\u4e2a\u5468\u671f\u5185\u9ad8\u7535\u5e73\u6240\u5360\u6bd4\u4f8b\u4e3a DD<\/span><\/span>D<\/span><\/span><\/span><\/span><\/span>，\u5728\u7406\u60f3\u60c5\u51b5\u4e0b，\u7535\u673a\u7aef\u770b\u5230\u7684\u5e73\u5747\u7535\u538b\u53ef\u8fd1\u4f3c\u7406\u89e3\u4e3a：
    \nv\u02c9\u2248D\u2009Vbus
    \n\\\\bar{v}\\\\approx D\\\\,V_{\\\\text{bus}}
    \n<\/span><\/span><\/span>v<\/span><\/span><\/span>\u02c9<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2248<\/span><\/span><\/span><\/span>D<\/span><\/span>V<\/span><\/span>bus<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

    \u8fd9\u91cc\u7684 VbusV_{\\\\text{bus}}<\/span><\/span>V<\/span><\/span>bus<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u662f\u529f\u7387\u6bcd\u7ebf\u7535\u538b，\u800c\u4e0d\u662f MCU \u7684 3.3 V \u903b\u8f91\u7535\u5e73\u3002\u9a71\u52a8\u5668\u7684\u4efb\u52a1，\u6b63\u662f\u6839\u636e PWM \u7684\u65f6\u5e8f\u53bb\u5f00\u5173 MOSFET，\u4f7f\u7535\u6e90\u7684\u80fd\u91cf\u4ee5\u53d7\u63a7\u65b9\u5f0f\u9001\u5165\u7535\u673a\u7ed5\u7ec4\u3002
    \n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    PWM \u662f\u547d\u4ee4\u7684\u8f7d\u4f53，\u4e0d\u662f\u80fd\u91cf\u672c\u8eab\u3002\u771f\u6b63\u63a8\u52a8\u673a\u68b0\u81c2\u7684\u662f\u529f\u7387\u6865\u4ece\u76f4\u6d41\u6bcd\u7ebf\u8c03\u5ea6\u51fa\u7684\u7ed5\u7ec4\u7535\u6d41，\u800c\u7535\u6d41\u53c8\u51b3\u5b9a\u4e86\u53ef\u83b7\u5f97\u7684\u7535\u78c1\u529b\u77e9\u3002<\/p>\n

    \u5bf9\u76f4\u6d41\u7535\u673a\u6216\u6c38\u78c1\u540c\u6b65\u7535\u673a\u800c\u8a00，\u529b\u77e9\u4e0e\u7535\u6d41\u5bc6\u5207\u76f8\u5173\u3002\u4e8e\u662f，\u8f83\u5b8c\u6574\u7684\u9a71\u52a8\u94fe\u8def\u5f80\u5f80\u4e0d\u53ea\u662f\u4e00\u5c42\u201cPWM \u63a7\u7535\u538b\u201d，\u8fd8\u5305\u542b\u7535\u6d41\u68c0\u6d4b\u3001\u8fc7\u6d41\u6bd4\u8f83\u3001\u9a71\u52a8\u4f7f\u80fd\u3001\u6b20\u538b\u9501\u5b9a\u548c\u6e29\u5ea6\u4fdd\u62a4\u3002<\/p>\n

    \u8fd9\u4f1a\u5e26\u6765\u4e00\u4e2a\u5f88\u73b0\u5b9e\u7684\u7ed3\u8bba：\u63a7\u5236\u5668\u8981\u6c42\u7684 u[k]u[k]<\/span><\/span>u<\/span>[<\/span>k<\/span>]<\/span><\/span><\/span><\/span><\/span> \u672a\u5fc5\u80fd\u539f\u6837\u5230\u8fbe\u673a\u68b0\u81c2\u3002<\/p>\n

      \n
    • \u6bcd\u7ebf\u7535\u538b\u4e0b\u964d\u65f6，\u540c\u6837\u5360\u7a7a\u6bd4\u5f97\u5230\u7684\u5e73\u5747\u7535\u538b\u4f1a\u53d8\u5c0f；<\/li>\n
    • \u8d1f\u8f7d\u8fc7\u5927\u6216\u4fdd\u62a4\u89e6\u53d1\u65f6，\u9a71\u52a8\u5668\u53ef\u80fd\u4e3b\u52a8\u9650\u6d41；<\/li>\n
    • \u4e0a\u4e0b\u6865\u81c2\u5207\u6362\u65f6\u5fc5\u987b\u7559\u51fa\u6b7b\u533a\u65f6\u95f4，\u5426\u5219\u53ef\u80fd\u76f4\u901a\u77ed\u8def；<\/li>\n
    • \u7535\u673a\u53cd\u7535\u52a8\u52bf\u3001\u7ed5\u7ec4\u7535\u611f\u548c\u6469\u64e6，\u4f1a\u8ba9\u5b9e\u9645\u7535\u6d41\u4e0e\u7406\u60f3\u7535\u538b\u54cd\u5e94\u5e76\u4e0d\u4e00\u81f4；<\/li>\n
    • \u9a71\u52a8\u5668\u82e5\u6ca1\u6709\u88ab\u6b63\u786e\u4f7f\u80fd，PWM \u6ce2\u5f62\u5373\u4f7f\u5b8c\u7f8e，\u4e5f\u4e0d\u4f1a\u4ea7\u751f\u4efb\u4f55\u529b\u77e9\u3002<\/li>\n<\/ul>\n

      \u56e0\u6b64，\u628a\u63a7\u5236\u5668\u8f93\u51fa\u7406\u89e3\u4e3a\u201c\u5e0c\u671b\u7cfb\u7edf\u65bd\u52a0\u600e\u6837\u7684\u4f5c\u7528\u201d\u66f4\u51c6\u786e\u3002\u786c\u4ef6\u529f\u7387\u7ea7\u8d1f\u8d23\u5728\u7535\u6c14\u5b89\u5168\u3001\u70ed\u9650\u5236\u548c\u4f9b\u7535\u8fb9\u754c\u5185，\u5c3d\u53ef\u80fd\u628a\u8fd9\u4e2a\u5e0c\u671b\u5151\u73b0\u4e3a\u771f\u5b9e\u529b\u77e9\u3002<\/p>\n

      \n

      \u4e94\u3001\u540c\u4e00\u6761\u95ed\u73af\u4e0a，\u54ea\u4e9b\u5668\u4ef6\u5728\u8d1f\u8d23\u4ec0\u4e48？<\/h3>\n

      \u628a\u4ece\u4f20\u611f\u5668\u5230\u6267\u884c\u5668\u7684\u804c\u8d23\u5c55\u5f00，\u4f1a\u53d1\u73b0\u6bcf\u4e00\u73af\u90fd\u5728\u66ff\u63a7\u5236\u7cfb\u7edf\u56de\u7b54\u4e00\u4e2a\u4e0d\u540c\u7684\u95ee\u9898：<\/p>\n\n\u73af\u8282\u5b83\u5b8c\u6210\u7684\u8f6c\u6362\u6700\u5e38\u89c1\u7684\u8bef\u89e3\u5931\u6548\u540e\u95ed\u73af\u4f1a\u600e\u6837<\/tr>\n\n\n\n\n\n\n\n
      \u4f20\u611f\u5668<\/td>\n\u7269\u7406\u91cf \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u7535\u4fe1\u53f7<\/td>\n\u201c\u4f20\u611f\u5668\u8bfb\u6570\u5c31\u662f\u771f\u5b9e\u72b6\u6001\u201d<\/td>\n\u504f\u7f6e\u3001\u566a\u58f0\u6216\u4e22\u8ba1\u6570\u4f1a\u8ba9\u63a7\u5236\u5668\u8ba4\u9519\u5bf9\u8c61<\/td>\n<\/tr>\n
      \u4fe1\u53f7\u8c03\u7406<\/td>\n\u539f\u59cb\u7535\u4fe1\u53f7 \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u53ef\u91c7\u96c6\u4fe1\u53f7<\/td>\n\u201c\u6ee4\u6ce2\u53ea\u5f71\u54cd\u663e\u793a\u662f\u5426\u5e73\u6ed1\u201d<\/td>\n\u589e\u76ca\/\u5e26\u5bbd\u4e0d\u5f53\u4f1a\u653e\u5927\u566a\u58f0\u6216\u5f15\u5165\u76f8\u4f4d\u6ede\u540e<\/td>\n<\/tr>\n
      ADC\/\u5b9a\u65f6\u5668\/\u901a\u4fe1\u5916\u8bbe<\/td>\n\u7535\u4fe1\u53f7 \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u65f6\u95f4\u6233\u4e0e\u6570\u5b57\u7801\u503c<\/td>\n\u201c\u5916\u8bbe\u8bfb\u5230\u5373\u4ee3\u8868\u5f53\u524d\u65f6\u523b\u201d<\/td>\n\u8f6c\u6362\u3001\u6392\u961f\u4e0e\u603b\u7ebf\u5ef6\u8fdf\u4f1a\u9020\u6210\u8bfb\u6570\u9648\u65e7<\/td>\n<\/tr>\n
      \u63a7\u5236\u4efb\u52a1<\/td>\n\u72b6\u6001 \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u51b3\u7b56 u[k]u[k]<\/span><\/span>u<\/span>[<\/span>k<\/span>]<\/span><\/span><\/span><\/span><\/span><\/td>\n\u201c\u7b97\u6cd5\u53ea\u5173\u5fc3\u516c\u5f0f\u662f\u5426\u6b63\u786e\u201d<\/td>\n\u5355\u4f4d\u3001\u65b9\u5411\u3001\u540c\u6b65\u9519\u8bef\u4f1a\u8ba9\u6b63\u786e\u516c\u5f0f\u5f97\u5230\u9519\u8bef\u547d\u4ee4<\/td>\n<\/tr>\n
      PWM \u4e0e\u6805\u6781\u9a71\u52a8<\/td>\n\u6570\u5b57\u547d\u4ee4 \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u529f\u7387\u5668\u4ef6\u5f00\u5173\u65f6\u5e8f<\/td>\n\u201cPWM \u5c31\u662f\u7535\u673a\u7535\u538b\u201d<\/td>\n\u6b7b\u533a\u3001\u4f7f\u80fd\u3001\u9a71\u52a8\u80fd\u529b\u4e0d\u8db3\u4f1a\u6539\u53d8\u5b9e\u9645\u8f93\u51fa<\/td>\n<\/tr>\n
      \u529f\u7387\u6865\u4e0e\u7535\u673a<\/td>\n\u7535\u80fd \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u7535\u6d41 \u2192\\\\rightarrow<\/span><\/span>\u2192<\/span><\/span><\/span><\/span><\/span> \u529b\u77e9<\/td>\n\u201c\u5360\u7a7a\u6bd4\u589e\u5927\u5fc5\u7136\u529b\u77e9\u589e\u5927\u201d<\/td>\n\u9650\u6d41\u3001\u538b\u964d\u3001\u6e29\u5347\u548c\u53cd\u7535\u52a8\u52bf\u90fd\u4f1a\u538b\u7f29\u53ef\u7528\u529b\u77e9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \u8fd9\u5f20\u8868\u4e5f\u89e3\u91ca\u4e86\u4e3a\u4ec0\u4e48\u73b0\u573a\u8c03\u8bd5\u65f6，\u4e0d\u5e94\u4e00\u4e0a\u6765\u5c31\u6000\u7591\u63a7\u5236\u53c2\u6570\u3002\u82e5\u89d2\u5ea6\u5355\u4f4d\u88ab\u653e\u5927\u5341\u500d，\u8c03\u518d\u591a\u6b21 PID \u90fd\u6ca1\u6709\u610f\u4e49；\u82e5\u529f\u7387\u7535\u6e90\u538b\u964d\u660e\u663e，\u63a7\u5236\u5668\u770b\u89c1\u7684\u201c\u54cd\u5e94\u8fdf\u7f13\u201d\u4e5f\u672a\u5fc5\u662f\u589e\u76ca\u592a\u5c0f\u3002<\/p>\n

      \u63a7\u5236\u7b97\u6cd5\u4f4d\u4e8e\u95ed\u73af\u4e2d\u592e，\u5374\u4e0d\u662f\u95ed\u73af\u7684\u5168\u90e8\u3002\u5b83\u4f9d\u8d56\u524d\u7aef\u628a\u73b0\u5b9e\u8bf4\u6e05\u695a，\u4e5f\u4f9d\u8d56\u540e\u7aef\u628a\u547d\u4ee4\u505a\u5230\u3002<\/p>\n

      \n

      \u516d\u3001\u786c\u4ef6\u4f1a\u600e\u6837\u6084\u6084\u6539\u5199\u63a7\u5236\u6548\u679c？\u56db\u7c7b\u95ee\u9898\u6700\u503c\u5f97\u4f18\u5148\u9632\u8303<\/h3>\n

      1. \u566a\u58f0\u4e0e\u63a5\u5730：\u63a7\u5236\u5668\u53ef\u80fd\u5728\u7ea0\u6b63\u7535\u78c1\u5e72\u6270<\/h4>\n

      \u7535\u673a PWM \u7684\u5927\u7535\u6d41\u5f00\u5173\u4f1a\u5728\u4f9b\u7535\u4e0e\u5730\u7ebf\u4e0a\u5236\u9020\u6270\u52a8\u3002\u82e5\u6a21\u62df\u91c7\u6837\u5730\u3001\u6570\u5b57\u5730\u548c\u529f\u7387\u56de\u6d41\u8def\u5f84\u6ca1\u6709\u88ab\u8ba4\u771f\u89c4\u5212，\u8fd9\u4e9b\u6270\u52a8\u53ef\u80fd\u53e0\u52a0\u5230\u7535\u6d41\u91c7\u6837\u6216\u89d2\u5ea6\u7535\u538b\u4e0a\u3002\u63a7\u5236\u5668\u770b\u89c1\u7684\u662f\u6ce2\u52a8，\u4e8e\u662f\u52aa\u529b\u53bb\u4fee\u6b63；\u771f\u5b9e\u673a\u68b0\u81c2\u5374\u672a\u5fc5\u5b58\u5728\u540c\u7b49\u5e45\u5ea6\u7684\u8fd0\u52a8\u8bef\u5dee\u3002<\/p>\n

      \u6240\u4ee5，\u6ee4\u6ce2\u3001\u7535\u6e90\u53bb\u8026\u3001\u5c4f\u853d\u7ebf\u3001\u5dee\u5206\u4f20\u8f93\u548c\u5408\u7406\u63a5\u5730\u5e76\u4e0d\u662f\u7eaf\u786c\u4ef6\u7684\u201c\u5e03\u7ebf\u7f8e\u89c2\u201d，\u800c\u662f\u5728\u4fdd\u62a4\u63a7\u5236\u5668\u5bf9\u73b0\u5b9e\u7684\u5224\u65ad\u3002<\/p>\n

      2. \u9971\u548c\u4e0e\u4fdd\u62a4：\u6267\u884c\u5668\u5e76\u4e0d\u603b\u80fd\u5b8c\u6210\u547d\u4ee4<\/h4>\n

      \u529f\u7387\u6865\u7684\u7535\u6d41\u4e0a\u9650\u3001\u7535\u6e90\u7684\u4f9b\u7535\u80fd\u529b\u3001\u7535\u673a\u7684\u70ed\u5bb9\u91cf\u90fd\u6784\u6210\u4e86\u63a7\u5236\u8f93\u5165\u7684\u8fb9\u754c\u3002\u5f53\u63a7\u5236\u5668\u957f\u671f\u8981\u6c42\u8d85\u51fa\u80fd\u529b\u7684\u529b\u77e9\u65f6，\u79ef\u5206\u9879\u53ef\u80fd\u7ee7\u7eed\u7d2f\u79ef，MPC \u7684\u9884\u6d4b\u4e5f\u53ef\u80fd\u843d\u7a7a\u3002\u786c\u4ef6\u4fdd\u62a4\u89e6\u53d1\u540e，\u8f6f\u4ef6\u82e5\u4ecd\u5047\u8bbe\u547d\u4ee4\u5df2\u7ecf\u6267\u884c，\u5c31\u4f1a\u5f62\u6210\u65b0\u7684\u6a21\u578b\u8bef\u5dee\u3002<\/p>\n

      \u8fd9\u6b63\u662f\u524d\u9762\u7ea6\u675f\u63a7\u5236\u601d\u60f3\u5728\u786c\u4ef6\u5c42\u7684\u5bf9\u5e94\u7269：\u53ef\u7528\u63a7\u5236\u91cf\u4e0d\u662f\u62bd\u8c61\u7684\u65e0\u9650\u533a\u95f4，\u800c\u662f\u4e00\u5f20\u4f1a\u968f\u7535\u538b\u3001\u6e29\u5ea6\u3001\u901f\u5ea6\u548c\u4fdd\u62a4\u72b6\u6001\u53d8\u5316\u7684\u8fb9\u754c\u3002<\/p>\n

      3. \u65f6\u5ef6\u4e0e\u4e0d\u540c\u6b65：\u72b6\u6001\u4e0e\u547d\u4ee4\u53ef\u80fd\u4e0d\u5c5e\u4e8e\u540c\u4e00\u4e2a\u201c\u73b0\u5728\u201d<\/h4>\n

      \u4e00\u6b21 ADC \u89e6\u53d1\u3001\u4e00\u6b21 DMA \u642c\u8fd0\u3001\u4e00\u6b21\u63a7\u5236\u4efb\u52a1\u5524\u9192\u3001\u4e00\u6b21 PWM \u66f4\u65b0，\u90fd\u8981\u82b1\u65f6\u95f4\u3002\u66f4\u9ebb\u70e6\u7684\u662f，\u7f16\u7801\u5668\u3001\u7535\u6d41\u91c7\u6837\u548c IMU \u4e5f\u8bb8\u4ee5\u4e0d\u540c\u901f\u7387\u5237\u65b0\u3002\u82e5\u63a7\u5236\u5668\u628a 2 ms \u524d\u7684\u7535\u6d41\u4e0e\u521a\u521a\u8bfb\u53d6\u7684\u89d2\u5ea6\u5f53\u6210\u540c\u4e00\u65f6\u523b\u7684\u72b6\u6001，\u5c31\u76f8\u5f53\u4e8e\u5728\u62fc\u63a5\u4e00\u5f20\u5e76\u4e0d\u5b58\u5728\u7684\u7cfb\u7edf\u5feb\u7167\u3002<\/p>\n

      \u5bf9\u9ad8\u901f\u7cfb\u7edf，\u5e94\u5c3d\u91cf\u628a\u5173\u952e\u91c7\u6837\u4e0e PWM \u4e8b\u4ef6\u7ed1\u5b9a\u5230\u540c\u4e00\u5957\u5b9a\u65f6\u5668\u8282\u62cd，\u5e76\u5728\u8f6f\u4ef6\u4e2d\u8bb0\u5f55\u65f6\u95f4\u6233\u3002\u53ea\u6709\u77e5\u9053\u201c\u8fd9\u6761\u6570\u636e\u6765\u81ea\u4f55\u65f6\u201d，\u5ef6\u8fdf\u8865\u507f\u3001\u89c2\u6d4b\u5668\u4e0e\u540c\u6b65\u624d\u6709\u4f9d\u636e\u3002<\/p>\n

      4. \u5355\u4f4d\u3001\u65b9\u5411\u4e0e\u6807\u5b9a：\u6700\u6734\u7d20\u7684\u95ee\u9898\u5f80\u5f80\u6700\u987d\u56fa<\/h4>\n

      \u7f16\u7801\u5668\u6b63\u65b9\u5411\u3001\u51cf\u901f\u6bd4\u3001ADC \u53c2\u8003\u7535\u538b\u3001\u7535\u6d41\u96f6\u70b9\u548c\u529b\u77e9\u5e38\u6570，\u90fd\u662f\u4ece\u786c\u4ef6\u8d70\u5411\u7b97\u6cd5\u7684\u63a5\u53e3\u7ea6\u5b9a\u3002\u4efb\u4f55\u4e00\u9879\u6ca1\u6709\u6821\u51c6，\u90fd\u53ef\u80fd\u8ba9\u7cfb\u7edf\u5448\u73b0\u51fa\u201c\u53c2\u6570\u600e\u4e48\u8c03\u90fd\u5947\u602a\u201d\u7684\u75c7\u72b6\u3002<\/p>\n

      \u5b9e\u9645\u5de5\u7a0b\u4e2d，\u5148\u6253\u5370\u539f\u59cb\u7801\u503c\u5e76\u624b\u52a8\u8f6c\u52a8\u5173\u8282\u3001\u518d\u6838\u5bf9\u7269\u7406\u5355\u4f4d\u548c\u7b26\u53f7，\u5f80\u5f80\u6bd4\u7acb\u523b\u8fd0\u884c\u5b8c\u6574\u63a7\u5236\u5668\u66f4\u80fd\u8282\u7701\u65f6\u95f4\u3002<\/p>\n

      \n

      \u4e03\u3001\u9047\u5230\u201c\u673a\u68b0\u81c2\u4e0d\u6309\u9884\u671f\u52a8\u201d\u65f6，\u600e\u6837\u6cbf\u7740\u4fe1\u53f7\u94fe\u6392\u67e5？<\/h3>\n

      \u8c03\u8bd5\u987a\u5e8f\u6700\u597d\u4ece\u4e24\u7aef\u540c\u65f6\u5411\u4e2d\u95f4\u6536\u655b，\u800c\u4e0d\u662f\u53ea\u76ef\u7740\u63a7\u5236\u4ee3\u7801：<\/p>\n

    • \u5148\u770b\u673a\u68b0\u7aef\u662f\u5426\u53ef\u81ea\u7531\u8fd0\u52a8：\u65ad\u7535\u540e\u68c0\u67e5\u5361\u6ede\u3001\u9650\u4f4d\u3001\u8d1f\u8f7d\u548c\u51cf\u901f\u5668\u95f4\u9699；<\/li>\n
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    • \u5728\u4e0d\u63a5\u7535\u673a\u7684\u6761\u4ef6\u4e0b\u770b PWM \u4e0e\u4f7f\u80fd：\u786e\u8ba4\u9891\u7387\u3001\u5360\u7a7a\u6bd4\u3001\u4e92\u8865\u5173\u7cfb\u4e0e\u6b7b\u533a\u8bbe\u7f6e；<\/li>\n
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    • \u518d\u95ed\u5408\u6700\u7b80\u5355\u7684\u63a7\u5236\u73af：\u5148\u4f4d\u7f6e\u6216\u901f\u5ea6\u4e2d\u7684\u4e00\u4e2a，\u518d\u9010\u6b65\u52a0\u5165\u4f30\u8ba1\u5668\u3001\u524d\u9988\u548c\u66f4\u590d\u6742\u7684\u7ea6\u675f；<\/li>\n
    • \u6700\u540e\u624d\u8ffd\u6c42\u6027\u80fd：\u54cd\u5e94\u6162\u3001\u8d85\u8c03\u5927\u3001\u6297\u6270\u5dee\u7b49\u95ee\u9898，\u5e94\u5efa\u7acb\u5728\u4fe1\u53f7\u65b9\u5411\u3001\u5355\u4f4d\u3001\u65f6\u5e8f\u548c\u4fdd\u62a4\u903b\u8f91\u90fd\u6b63\u786e\u7684\u57fa\u7840\u4e0a\u8ba8\u8bba\u3002<\/li>\n

      \u8fd9\u4e2a\u987a\u5e8f\u80cc\u540e\u7684\u903b\u8f91\u5f88\u7b80\u5355：\u6bcf\u5f80\u524d\u4e00\u6b65，\u90fd\u628a\u4e00\u4e2a\u66f4\u5e95\u5c42\u7684\u5047\u8bbe\u53d8\u6210\u53ef\u9a8c\u8bc1\u4e8b\u5b9e\u3002\u8fd9\u6837\u5373\u4f7f\u6700\u7ec8\u95ee\u9898\u51fa\u5728\u7b97\u6cd5，\u4e5f\u80fd\u660e\u786e\u77e5\u9053\u7b97\u6cd5\u9762\u5bf9\u7684\u662f\u4e00\u6761\u53ef\u4fe1\u7684\u786c\u4ef6\u94fe\u8def\u3002<\/p>\n

      \n

      \u516b\u3001\u628a\u8fd9\u4e00\u8282\u653e\u56de\u6574\u4e2a\u4e13\u680f\u91cc\u770b<\/h3>\n

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        \n
      • \u63a7\u5236\u7406\u8bba\u63d0\u4f9b\u4e86\u72b6\u6001\u3001\u53cd\u9988\u548c\u7a33\u5b9a\u6027\u7684\u8bed\u8a00；<\/li>\n
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      • \u4f20\u611f\u5668\u2014MCU\u2014\u9a71\u52a8\u5668\u94fe\u8def\u51b3\u5b9a\u4e86\u89c2\u5bdf\u5230\u7684\u72b6\u6001\u662f\u5426\u53ef\u4fe1\u3001\u8f93\u51fa\u7684\u547d\u4ee4\u80fd\u5426\u5151\u73b0；<\/li>\n
      • \u63a5\u4e0b\u6765\u7684\u5b9e\u65f6\u7cfb\u7edf\u8bbe\u8ba1，\u8fd8\u8981\u56de\u7b54\u591a\u4e2a\u4e2d\u65ad\u3001\u901a\u4fe1\u548c\u63a7\u5236\u4efb\u52a1\u600e\u6837\u5728\u540c\u4e00\u5757 MCU \u4e0a\u6309\u65f6\u5b8c\u6210\u3002<\/li>\n<\/ul>\n

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        \n

        In the end：\u4e0b\u4e00\u6b65\u8be5\u770b\u4ec0\u4e48？<\/h3>\n

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        \u4e0b\u4e00\u8282，\u6211\u4eec\u5c06\u7ee7\u7eed\u8ffd\u95ee： \u5b9e\u65f6\u6027\u4e0d\u662f\u201c\u8dd1\u5f97\u5feb\u201d：\u4e3a\u4ec0\u4e48\u9519\u8fc7\u4e00\u6b21\u622a\u6b62\u65f6\u95f4，\u5c31\u53ef\u80fd\u6539\u53d8\u6574\u4e2a\u63a7\u5236\u7cfb\u7edf\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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        \n\u4f46\u201c\u8bfb\u53d6\u72b6\u6001\u201d\u548c\u201c\u8f93\u51fa\u6307\u4ee4\u201d\u5e76\u4e0d\u662f\u4e24\u53e5\u4ee3\u7801\u5c31\u80fd\u5b8c\u6210\u7684\u4e8b\u3002\u7f16\u7801\u5668\u4e0d\u4f1a\u76f4\u63a5\u8bf4\u51fa \u03b8[k]\\\\theta[k]\u03b8[k]，\u7535\u673a\u4e5f\u4e0d\u4f1a\u76f4\u63a5\u63a5\u6536 u[k]u[k]u[k]；\u5b83\u4eec\u4e4b\u95f4\u9694\u7740\u4f20\u611f\u5668\u3001\u4f9b\u7535\u3001\u8c03\u7406\u7535\u8def\u3001\u5916\u8bbe\u5bc4\u5b58\u5668\u3001PWM\u3001\u9a71\u52a8\u5668\u548c\u529f\u7387\u5668\u4ef6<\/p>\n","protected":false},"author":2,"featured_media":101390,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[50,269,207],"topic":[],"class_list":["post-101393","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-50","tag-269","tag-207"],"yoast_head":"\n\u3010\u5d4c\u5165\u5f0f\u3011\u4f20\u611f\u5668\u5230\u6267\u884c\u5668\uff1a\u4e00\u6761\u63a7\u5236\u4fe1\u53f7\u5728\u786c\u4ef6\u4e2d\u7ecf\u5386\u4e86\u4ec0\u4e48 - 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