Research On Four-wheel Mobile Platform System Based On STM32

With the rapid development of today's manufacturing technology and control technology,intelligent mechanical equipment is increasingly used in daily industrial production and agricultural operations.As an important part of intelligent mechanical equipment technology,mobile platform system plays an irreplaceable role in reforming industrial and agricultural production operations and accelerating the development of modern manufacturing industry.my country's research on automated mobile platform systems started late.Although some results have been achieved,there is still a certain gap compared with foreign countries.Therefore,by comparing the research results of mobile platform systems at home and abroad,this paper conducts specific research on the environmental adaptability,walking flexibility,simple structure and functional scalability of the current mobile platform system research institute.Control technology,digital-to-analog signal conversion control technology,four-wheel drive control technology,host computer data monitoring technology,real-time operating system technology,etc.are integrated,and a set of four-wheel mobile platform system scheme based on STM32 is proposed.This article simplifies the structure of the mobile platform system by adopting a reasonable drive control scheme.By building a stable and safe hardware and software system,the singlewheel closed-loop control algorithm and the four-wheel drive control strategy are efficiently implemented,enhancing the environment of the mobile platform system.Adaptability,walking flexibility and functional scalability.In terms of hardware circuit,the main control chip adopts STMicroelectronics' STM32F103VET6,and the motor drive control generates three channels of upper and lower arm drive signals with a certain phase difference through a digital-to-analog conversion control circuit and a drive signal amplification circuit.Finally,the drive control of the brushless DC motor is completed.The current detection circuit,battery power detection circuit and analogto-digital conversion control circuit are designed to collect the operating parameters of the system.At the same time,the PS2 wireless controller is used for human-computer interaction.The isolation circuit is designed for signal isolation.For each function,serial interface control circuit,storage circuit,alarm circuit and extended function interface circuit are designed.To ensure the safety of the system,the power supply system is divided into driving power supply and main control power supply.In terms of software system,it is developed based on the embedded real-time operating system FreeRTOS.The host computer software is based on the Python language and is completed on the integrated development platform Pycharm.At the same time,it combines PID algorithm controller speed closed-loop control and four-wheel drive control strategy to complete the entire system The core walking function further ensures the stability and reliability of the mobile platform system.The four-wheel mobile platform system has undergone hardware,software and overall system testing.The realization of various functions has basically achieved the expected results.It has strong environmental adaptability,walking flexibility,simple structure and extensible functions.It is a domestic mobile platform system.The study provides a good sample reference.