基于STM32的体感滑板系统的设计【说明书论文开题报告外文翻译】
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毕 业 设 计（论 文）任 务 书1本毕业设计（论文）课题应达到的目的：通过毕业设计，使学生受到电气工程师所必备的综合训练，在不同程度上提高各种设计及应用能力，具体包括以下几方面：1. 调查研究、中外文献检索与阅读的能力。2. 综合运用专业理论、知识分析解决实际问题的能力。3. 定性与定量相结合的独立研究与论证的能力。4. 实验方案的制定、仪器设备的选用、调试及实验数据的测试、采集与分析处理的能力。5. 设计、计算与 Protel 绘图的能力，包括使用计算机编程的能力。6. 逻辑思维与形象思维相结合的文字及口头表达的能力。 2本毕业设计（论文）课题任务的内容和要求（包括原始数据、技术要求、工作要求等）：1.本 课 题 要 求 以 体 感 的 控 制 方 式 来 实 现 电 动 滑 板 的 移 动 、 转 向 等 功 能 。 即 通 过三 轴 加 速 度 计 与 三 轴 陀 螺 仪 分 别 采 集 到 三 个 轴 的 加 速 度 AD 值 及 角 速 度 AD 值 ，再 通 过 四 元 数 等 算 法 的 融 合 ， 最 后 运 用 欧 拉 角 公 式 转 换 成 当 前 人 体 动 作 的 运 动姿 态 。 总 机 控 制 单 元 根 据 当 前 的 姿 态 值 ， 控 制 电 机 驱 动 机 构 实 现 电 动 滑 板 的 运动 。 电 动 滑 板 以 动 力 锂 电 池 供 能 ， 采 用 数 字 全 隔 离 式 锂 电 池 监 控 和 保 护 系 统 来延 长 其 寿 命 并 保 证 充 放 电 的 安 全 性 。 其 中 ， 总 机 控 制 单 元 通 过 与 该 系 统 进 行 数据 通 讯 ， 控 制 锂 电 池 的 关 断 及 精 确 读 取 锂 电 池 的 电 压 值 、 电 流 值 、 报 警 阈 值 等参 数 ， 使 用 户 更 加 直 观 了 解 当 前 锂 电 池 的 详 细 参 数 。2.设计系统的硬件电路和软件程序，包括详细的硬件设备配置，系统连接，程序调试等详细步骤；3.最终完成一篇符合金陵科技学院毕业论文规范的系统技术文档，包括各类技术资料，电路图纸，程序等；4.系统要有实际的硬件展示，并能够通电运行；5.本子系统要与整个系统能够配合运行；6.能够完成各项任务，参加最后的毕业设计答辩。 毕 业 设 计（论 文）任 务 书3对本毕业设计（论文）课题成果的要求包括图表、实物等硬件要求： 1.按期完成一篇符合金陵科技学院论文规范的毕业设计说明书（毕业论文） ，能详细说明设计步骤和思路；2.能有结构完整，合理可靠的技术方案；3.能有相应的电子部分硬件电路设计说明；4.有相应的原理图和技术参数说明；5.要求体感电动滑板能在答辩时完成实际系统展示。 4主要参考文献： 1 陈家新.电动滑板车控制原理及设计中若干问题的研究J.电机电器技术,2001.2 韩颖,张重雄.基于 STM32 的电动滑板车控制器设计J.自动化与仪器仪表,2014.3 周达左.电动滑板车遥控器及控制器的开发与研究D.无锡:江南大学,2008.4 张奇志.IR2101 带有欠压封锁的半桥 MOSFET 驱动器J.器件与应用,2002.5 张小鸣,卢方民.基于 IR2110 的 H 桥可逆 PWM 驱动电路应用J.常州大学学报,2012. 6 王小明.电动机的单片机控制M.北京:北京航空航天大学出版社,2002.7 廖义奎.CortexM3 之 STM32 嵌入式系统设计M.北京:中国电力出版社,2012.8 南亦民.基于 STM32 标准外设库 STM32F10xxx 外围器件编程J.长沙航空职业技术学院学报,2010.9 刘军,张洋,严汉宇.原子教你玩 STM32M.北京:北京航空航天大学出版社,2013.10 刘军.例说 STM32M.北京:北京航空航天大学出版社,2011.11 李法春.单片机原理及接口技术案例教程M.北京:机械工业出版社,2006.12 何芝强.PID 控制器参数整定方法及其应用研究D.浙江大学,2005.13 姜玉春.PID 控制器参数的整定J.莱钢科技,2006.14 丁芳.智能 PID 算法在液位控制系统中的应用J.微计算机信息,2006.15 刘俊峰.三维转动的四元数表述J.大学物理,2004.毕 业 设 计（论 文）任 务 书5本毕业设计（论文）课题工作进度计划：起 迄 日 期 工 作 内 容2015.11.04-2015.11.282015.11.29-2015.12.162015.12.17-2016.01.102016.02.25-2016.03.092016.03.09-2016.04.282016.04.29-2016.05.092016.05.09-2016.05.132016.05.14-2016.05.21在毕业设计管理系统里选题与指导教师共同确定毕业设计课题查阅指导教师下发的任务书，准备开题报告提交开题报告、外文参考资料及译文、论文大纲进行毕业设计（论文） ，填写中期检查表，提交论文草稿等按照要求完成论文或设计说明书等材料,提交论文定稿教师评阅学生毕业设计；学生准备毕业设计答辩参加毕业设计答辩，整理各项毕业设计材料并归档所在专业审查意见：通过 负责人： 2016 年 1 月 12 日 毕 业 设 计（论文） 开 题 报 告 1结合毕业设计（论文）课题情况，根据所查阅的文献资料，每人撰写不少于1000 字左右的文献综述： 目前，随着电子技术的快速发展，越来越多的新颖且时尚的代步工具逐渐融入人们的日常生活中。电动滑板作为新时代代步工具的领先者，以启动时间短、速度快、整体重量轻、便于携带等特点，越来越受人们的喜爱。因此，电动滑板的设计要求、动作性能、及体验快感也面临更多消费者的挑战。一、电动滑板的发展背景及国内发展状况滑板运动极富娱乐性和挑战性，深受年轻人喜爱。但传统的滑板存在一个最大的问题：若要保持前进，则必须一只脚不停的蹬地以提供动力；若运动中要停止，则必须用一只脚使劲撑地，施加一个反作用力。随着电子技术和控制技术的发展，内置有电动马达的电动滑板应运而生，其以电力作为动力。电动滑板既可作为传统滑板车玩，又可通过启动马达使之成为代步工具，既有运动的乐趣，又有舒适的享受。经过了机械工程师们的精心开发已经形成了一个产业化的发展，新产品层出不穷，其电动滑板就有几十余种先后投放市场。形成了有一定规模的产业化发展，仅在中国就有上百家工厂代工生产和销售，产品更是出口欧美等发达国家，并以其优异的性能和良好的口碑在国内正以铺天盖地的势头席卷而来。电动滑板最早起源于欧美一些国家，当时在欧美成为风靡一时的代步工具，被喻为是世纪取代汽车的交通工具，正式进入中国市场，但是由于当时国人对新兴事务的认识不够并没有普及开来，直到年末才一开始陆续出现在各大城市的街头。二、当前电动滑板的优缺点及需改进点优点：启动时间短、速度快、噪声低、携带方便、外观时尚可印精美图案。缺点：爬坡性能较差、续航能力差、因为电池及电机的存在，使得整体重量较重，不宜长时间携带。需改进点：运行平稳性、续航能力、重量、爬坡能力、启动电流、体验性。三、结论针对以上的需要改进点，并通过阅读电动滑板相关的文献发现，前辈们已经对电动滑板的爬坡能力、启动电流、运行平稳性等问题进行研究与分析，本课题希望针对电动滑板的体验性以及续航能力进行问题分析，提出相应的解决办法，并拟通过实验进行验证，最终希望能使得电动滑板的性能得到提高：体验性：以体感的控制方式来实现电动滑板的移动、转向等功能。即通过三轴加速度计与三轴陀螺仪分别采集到三个轴的加速度 AD 值及角速度 AD 值，再通过四元数等算法的融合，最后运用欧拉角公式转换成当前人体动作的运动姿态。总机控制单元根据当前的姿态值，控制电机驱动机构实现电动滑板的运动。通过身体倾斜角度而前进，不需用脚推滑，可达到显著的瘦身效果，可增强个人的平衡能力。续航能力：电动滑板以动力锂电池供能，采用数字全隔离式锂电池监控和保护系统来延长其寿命并保证充放电的安全性。其中，总机控制单元通过与该系统进行数据通讯，控制锂电池的关断及精确读取锂电池的电压值、电流值、报警阈值等参数，使用户更加直观了解当前锂电池的详细参数。参考文献：1 陈家新.电动滑板车控制原理及设计中若干问题的研究J.电机电器技术,2001.2 韩颖,张重雄.基于 STM32 的电动滑板车控制器设计J.自动化与仪器仪表,2014.3 周达左.电动滑板车遥控器及控制器的开发与研究D.无锡:江南大学,2008.4 孙心华.三相无刷直流电机控制系统设计D.广州:广东工业大学.2008.5 张小鸣,卢方民.基于 IR2110 的 H 桥可逆 PWM 驱动电路应用J.常州大学学报, 2012. 6 李法春.单片机原理及接口技术案例教程M.北京:机械工业出版社,2006.7 廖义奎.CortexM3 之 STM32 嵌入式系统设计M.北京:中国电力出版社,2012.8 刘军,张洋,严汉宇.原子教你玩 STM32M.北京:北京航空航天大学出版社,2013.9 刘俊峰.三维转动的四元数表述J.大学物理,2004.10 康华光.电子技术基础.北京:高等教育出版社,1997.11 刘迎春.现代新型传感器原理与应用M.北京:国防工业出版社,1999.12 冯智勇,曾瀚,张力,等.基于陀螺仪及加速度计信号融合的姿态角度测量J.西南师范大学学报:自然科学版,2011,36(4):137-140.13 何跃,林春梅.PID 控制系统的参数选择研究及应用J.计算机工程与设计,2006, 27(8):1496-1498.14 叶龙.基于 MPU6050 传感器的方位角倾角算法研究D.长春:吉林大学,2015.15 孙新香.基于三轴加速度传感器的跌倒检测技术的研究与应用D.上海:上海交通大学,2008毕 业 设 计（论文） 开 题 报 告 2本课题要研究或解决的问题和拟采用的研究手段（途径）： 本课题要研究或解决的问题是：1.如何对系统的硬件设备进行选择，如何对硬件电路进行研究规划；2.在一定的基础上，如何进行软件编程；3.在完成上述两个步骤后，还需考虑怎样设计出整体的电路原理图。研究手段（途径）：1.去图书馆查阅相关资料，经过汇总，作为参考资料；2.充分利用网络资源，进行相关信息的搜索；3.以小组讨论的形式展开对课题的研究；4.理论联系实际，将各个功能分散化，逐一实现，最后整体装调。毕 业 设 计（论文） 开 题 报 告 指导教师意见：1对“文献综述”的评语：综述内容较为丰富，参考文献合理，概括了基于 STM32 的体感滑板的设计系统所包含的研究内容的相关背景、基础知识、历史发展等，同时还对本课题所研究的任务进行了一定的阐述，对本课题的研究有一定的指导意义。2对本课题的深度、广度及工作量的意见和对设计（论文）结果的预测：本课题难度适中，工作量适中，做完本课题应该能出适当的设计程序和调试结果，并对基于 STM32 的体感滑板系统的设计有一个完整、清晰的认识。 3.是否同意开题： 同意 不同意指导教师： 2016 年 02 月 25 日所在专业审查意见：同意 负责人： 2016 年 03 月 08 日0译文题目： Introduction of STM32 STM32 简介 Introduction of STM32STM32 is based on the family of ARM Cortex-M3 core - designed specifically for embedded applications that require high performance, low cost, low power consumption. The performance is divided into two different series: STM32F103 the “Enhanced“ series and STM32F101 the “Basic“ series. The clock frequency of Enhanced Series is up to 72MHz, the highest performance of similar products; the clock frequency of Basic Series is 36MHz, and the prices of 16 position products significantly enhance the performance of more than 16 position products, is the best choice users to buy them. The two series are built-in flash from 32K to 128K, is the combination of the maximum capacity of the SRAM and peripheral interfaces. When the clock frequency reaches 72MHz, it executes from Flash and the STM32 power consumption is 36mA, the lowest power consumption in the 32-bit market products, the equivalent an impressive 0.5mA/MHz.a. STMicroelectronics GroupSTMicroelectronics Group was established in June 1987, is a merger of Italys SGS Microelectronics and the French Thomson semiconductor company. In May 1998, SGS-THOMSON Microelectronics will change the company name to STMicroelectronics Limited. STMicroelectronics is one of the largest semiconductor companies in the world. From its inception to date, STs growing faster than the overall rate of growth of the semiconductor industry. Since 1999, ST has always been one of the worlds top ten semiconductor companies. According to the latest industry statistics, STMicroelectronics is the worlds fifth largest semiconductor manufacturer and a world leader in many markets. For example, STMicroelectronics is the worlds largest dedicated analog chips and power conversion chip manufacturers, the worlds largest industrial semiconductor and set-top box chip suppliers and discrete devices, mobile phone camera module and car field of integrated circuits highest in the world.STMicroelectronics has the entire group employs nearly 50,000, with 16 state-of-the-art R companys U.S. headquarters in Dallas, Texas, Carrollton; Asia-Pacific headquarters in Singapore; business in Japan by Tokyo as a headquarters ; Greater China headquarters in Shanghai, responsible for business in Hong Kong, mainland China and Taiwan.December 8, 1994 for the first time since the completion of the public offering of shares, STMicroelectronics has been in New York Stock Exchange (ticker symbol: STM) and Pan Ou Bali Stock Exchange listed, in June 1998, in Milan, Italy, securities Exchange. STMicroelectronics has nearly 900 million shares in the public offering of shares, of which approximately 71.1% of the shares are publicly traded on the various stock exchanges. Another 27.5% of the stock by STMicroelectronics Holding II BV Limited held its shareholders Finmeccanica and CDP Italian Finmeccanica consortium Areva and France Telecom, the French consortium; remaining 1.4% of treasury shares by STMicroelectronics hold.b. ST ultra-low-power ARM Cortex -M3 microcontrollerSTM32L series of products are based on the ultra-low-power ARM Cortex-M3 processor core, STMicroelectronics two unique energy-saving technologies: 130nm dedicated low-leakage current manufacturing process and optimize energy-saving architecture to deliver industry-leading energy-saving performance. This series belongs to the lineup 32 STMicroelectronics STM32 microcontroller product family, the product family, a total of 180 balance of product, the full range of products share most of the pin, software and peripherals, excellent compatibility with developers to the maximum design flexibility. c. ST ultra-low-power ARM Cortex -M0 microcontrollerSTM32F0 series of products are based on the ultra-low-power ARM Cortex-M0 processor core technology and features, enhanced integration, aimed at the application of ultra-low-cost budget. The family of microcontrollers to shorten the 8-bit and 16-bit micro-controller devices and the performance gap between the 32-bit microcontroller device, the user terminal products in the economy to achieve state-of-the-art complex features.d. Products2Before STM32F105 and STM32F107 interconnect family of microcontrollers, STMicroelectronics has introduced the STM32 Access Line Enhanced Series, the series of the USB basic series and enhanced; new products follow the Enhanced Series 72MHz processing frequency. Memory 64KB to 256KB Flash and 20KB to 64KB embedded SRAM. The LQFP64, LQFP100, and LFBGA100 three package in the new series, a different package to maintain the pin out consistency, combined with the STM32 platform design philosophy, and developers by selecting the products can be re-optimization function, memory, performance and pin count, with a minimum of hardware changes to meet individual application needs.Until July 1, 2010, the circulation of models:Basic: STM32F101R6 STM32F101C8 STM32F101R8 STM32F101V8 STM32F101RB STM32F101VBEnhanced: STM32F103C8 STM32F103R8 STM32F103V8 STM32F103RB STM32F103VB STM32F103VE STM32F103ZESTM32 models Description: STM32F103RBT6 chip model, for example, the compositions of the models of seven parts, its naming rules are as follows:(1) STM32: STM32 ARM Cortex-M3 represents kernel of 32-bit microcontrollers.(2) F: F represents the chip sub-series.(3) 103:103 representatives Enhanced Series.(4) R: R This is a representative of the number of pins, where T represents 36 feet, 48 feet, C represents, R represents a 64 feet, V represents the 100-pin 144-pin, Z represents.(5) B: B a representative of embedded Flash capacity, including 6 on behalf of 32K bytes of Flash, 8 on behalf of 64K bytes Flash, 384K bytes Flash B on behalf of 128K bytes Flash, C on behalf of 256K bytes Flash, D representatives E on behalf of 512K bytes Flash.(6) T: T a representative of the package, in which H represents BGA package, T represents LQFP package, U represents VFQFPN package.(7) 6:6 This is a representative of the operating temperature range, where 6 represents -40 - 85 , 7 on behalf of -40 - 105 .e. STM32F103 performance characteristicsFeature31. The kernel: ARM32-bit Cortex-M3 CPU, the maximum operating frequency of 72MHz,1.25DMIPS/MHz. Single-cycle multiply and hardware division.2. Memory: integrated on-chip 32-512KB of Flash memory and 6-64KB SRAM memory.3. Clock reset and power management: 2.0-3 .6 V drive voltage of the power supply and I / O interface, POR, PDR and programmable voltage detector (PVD), 4-16MHz crystal oscillator, embedded 8MHz RC oscillator tuning circuit in the factory, 40 kHz internal RC oscillator circuit. For the CPU clock PLL. With the calibration for the RTC 32kHz crystal.4. Low power consumption: three kinds of low-power modes: Sleep, stop, standby mode. Powered the VBAT RTC and backup registers.5. Debug mode: serial debug (SWD) and JTAG interfaces.6. DMA: 12-channel DMA controller; supported peripherals: timers, ADC, DAC, SPI, IIC and USART.7.2 12 us class A / D converter (16-channel): A / D measurement range: 0-3 .6 V. Dual sample and hold capability. The chip integrates a temperature sensor.8. 2-channel 12-bit D / A converter: STM32F103xC STM32F103xD STM32F103xE unique.9. A maximum of up to 112 fast I / O ports: Depending on the model, 26,37,51,80, and 112 I / O ports, all ports can be mapped to the 16 external interrupt vector. In addition to the analog input can accept less than 5V input.10. A maximum of up to 11 timers: four 16-bit timers, each timer 4 IC / OC / PWM or pulse counter. Two 16-channel advanced control timer: up to 6 channels for PWM output. 2 watchdog timers (independent watchdog and window watchdog). Systick timer: 24-bit down counter. Two 16-bit basic timer is used to drive the DAC.11. A maximum of up to 13 communication interfaces: two IIC interface (SMBus / PMBus), 5 USART interface (ISO7816 interface, LIN, IrDA compatible, the debugging control), Three SPI interface (18 Mbit / s), two and IIS reuse, CAN interface (2.0B), USB 2.0 full-speed interface, SDIO interface.12. ECOPACK package: STM32F103xx family of microcontrollers ECOPACK package.System role1. Integrated embedded Flash and SRAM memory, ARM Cortex-M3 core. And compared to the 8/16 devices, the ARM Cortex-M3 32-bit RISC processor provides a 4higher efficiency of the code. The STM32F103xx microcontroller with an embedded ARM core, so can be compatible with all ARM tools and software.2. Embedded Flash memory and RAM memory: built-up to 512KB embedded Flash, can be used to store programs and data. Up to 64KB of embedded SRAM can read and write to the clock speed of the CPU (not wait state).3. A variable static memory (FSMC): FSMC embedded in STM32F103xC, STM32F103xD, STM32F103xE, with four chip select support four modes: Flash, RAM, PSRAM, NOR and NAND. After OR after three FSMC interrupt lines connected to the NVIC. No read / write FIFO PCCARD outside, the code is executed from the external memory, and does not support the Boot took target frequency equal to SYSCLK / 2 Therefore, when the system clock is 72MHz, external access, according to 36MHz.4. Nested vector interrupt controller (NVIC): can handle 43 maskable interrupt channels (not including the 16 interrupt lines of Cortex-M3), provides 16 interrupt priority. Tightly coupled NVIC lower interrupt processing delay directly passed to the kernel interrupt entry vector table address, tightly coupled the NVIC kernel interface, allows interrupts to be anticipated, after the higher-priority interrupt handling support tail chain, automatically save the state of the processor, interrupt entry automatically resume when the interrupt exit, no instruction intervention.5. The external interrupt / event controller (EXTI): External interrupt / event controller for 19 to generate an interrupt / event request edge detector lines. Each line can be individually configured to select the trigger event (rising edge, falling edge, or both), can also be individually shielded, a pending register to maintain the state of the interrupt request. When the external line appear longer than internal APB2 clock cycle pulse, EXTI is able to detect. Up to 112 GPIO connected to the 16 external interrupt lines.6. Clock and start: start or system clock selection, but reset when the internal 8MHz crystal was selected as the CPU clock. Can select one of 4-16MHz external clock, and will be monitored to determine whether successful. During this period, the controller is disabled and the software interrupt management subsequently also be prohibited. At the same time, if there is a need (for example, encountered an indirect use of crystal failed), PLL clock interrupt management fully available. Multiple pre-comparator can be used to configure the AHB frequency, including high-speed APB (PB2) and low-speed APB (APB1), high-speed APB highest frequency of 72MHz, 5low-speed APB highest frequency of 36MHz.7. Boot mode: startup, Boot pin is used to select one of three kinds Boot Options kinds: Import from user Flash memory from the system import, import from SRAM. The Boot import program is located in the system memory for Flash Memory Programming by USART1 re.8. Power supply program: VDD voltage range of 2.0V-3.6V, VDD pin provides an external power supply through, for I / O and internal regulator. VSSA and VDDA, voltage range of 2.0-3.6V, external analog voltage input for the ADC reset module, RC and PLL VDD range (ADC is limited to 2.4V); VSSA and VDDA must be corresponding connection to VSS and VDD. VBAT, the voltage range of 1.8-3.6V, VDD invalid for RTC, external 32KHz crystal oscillator and backup registers power supply (via the power switch to achieve).9. Power management: The device has a power-on reset (POR) circuit and power-down reset (PDR). This circuit has been used to ensure that the necessary operating from 2V starts fell to 2V. When VDD drops below a specific lower limit VPOR / PDR, without the need for an external reset circuit, the device can also be held in reset mode. Equipment specific to an embedded programmable voltage detector (PVD) PVD for detecting VDD compare and VPVD limit, will generate an interrupt when VDD to lower than VPVD or VDD greater than VPVD. Interrupt service routine can generate a warning message or MCU will be set to a safe state. PVD is enabled by software.10. Voltage regulator: The regulator has three operation modes: main (MR), low power (LPR) and power-down. MR used in the traditional sense of the adjustment mode (operating mode), LPR is used in the stop mode, power down in standby mode: regulator output is high impedance, the core circuit power-down; including zero consumption (the contents of the registers and SRAM will be lost).11. The low-power mode: STM32F103xx support three kinds of low-power mode, so as to achieve the best balance between low-power, short start-up time and wake-up source available. Sleep mode: only the CPU stops working, all peripherals continue to run, wake up the CPU interrupt / event occurs; Stop mode: allows keeping the contents of the SRAM and registering with minimal power consumption. The 1.8V regions of the clock are stopped, the PLL, the HSI and the HSE RC oscillators are disabled, and the regulator is set to normal or low-power mode. The device can wake-up from stop mode by external interrupt lines. The external interrupt sources 6can make one of the 16 external interrupt lines, PVD output or TRC warning. Standby mode: the pursuit of minimum power consumption, the internal voltage regulator is turned off, so 1.8V regional power outage. PLL, HSI and the HSE RC oscillators are also closed. Enter standby mode, in addition to backup register and Standby circuit, SRAM and register contents will be lost. When an external reset (NRST pin), the IWDG, reset, WKUP pin a rising edge or TRC warning occurs, the device out of standby mode. Enters the stop mode or standby mode, TRC, IWDG clock source does not stop.f. Architectural advantagesIn addition to the new features enhanced peripheral interface, STM32 interconnection series also provide the same standard interface with other STM32 microcontroller shared this peripheral enhance application flexibility of the entire product family, so that developers can multiple designs to repeated use of the same software. New STM32 standard peripherals include 10 timers, two 12-Msample / s analog-to-digital converter (Interleaved 2-Msample / s mode), two 12-bit digital-t
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