| With the rapid development of science and technology,higher requirements are put forward for the control accuracy of platform trajectory.It is urgent to study the small-scale high-precision positioning technology.According to the requirements of the project,a high-precision positioning and platform motion control system based on ultrasound is designed,which consists of two parts: the center control system of platform motion and the positioning and control system of platform motion.The main task of this paper is to design the central control system of platform motion,and to realize the functions of calculating platform position,motion trajectory reproduction and platform start-stop control.In this thesis,the design scheme of the platform motion control system is given.Four locating base stations composed of STM32F103 and ultrasonic receiving module are designed.The hardware circuit of the calculating controller based on STM32F205 is mainly designed,including ARM processor,485 bus controller,wireless transceiver,LCD touch screen and other modules.The method of bus request and authorization is discussed in detail.And the application of bus for location base station according to priority level is discussed in detail.On this basis,the software flow of positioning base station is given,and the receiving of ultrasonic signal and the transmission of rough distance data to the solution controller are realized.The software of the solution controller is designed,including platform position calculation,motion parameters and trajectory display,wireless transmission and reception,touch key input,parking or fixed-point parking command processing and other modules.Combining with the positioning and control system of the moving platform,the static and dynamic tests of the system are carried out.The results show that the system can realize the functions of high precision positioning of the platform and display of the trajectory of the moving platform,and meet the design requirements of the system. |
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