北京理工大学珠海学院 2020 届本科生毕业设计新型自动割草机的设计与开发—控制系统设计新型自动割草机的设计与开发—控制系统设计摘 要在园林设计和修剪时割草机是必不可少的重要工具，尤其对于园艺工人来说割草机的使用更是家常便饭，然而对于修剪草坪的工作并不是一件轻松容易的活。机器笨重、发动机轰鸣是很多人对割草机的刻板印象。设计一款省时、省力、高效并且低噪音的割草机即是本课题主要目的。新型自动割草机的控制核心系统为基于 ARM Cortex—M3 的架构采用 STM32 F1 系列为控制芯片，采用四轮四驱的编码器电机实现驱动，同时配合MPU6050 陀螺仪芯片实现 PID 算法控制实现割草机精准运动。操作方式采用遥控 Wi-Fi远程控制,其采用 NRF24L01 芯片通过 SPI 通信将数据传输至核心控制板。为了实现割草的高度，使用 PWM 控制两个舵机的角度配合连接杆来完成升降。割草刀片使用直流电机采用往复式的运动方式实现草坪修剪。关键词：割草机；STM32 F1；编码电机；PID 算法；NRF24L01；舵机北京理工大学珠海学院 2020 届本科生毕业设计Design and development of new automatic lawn mower—control system designAbstractThe lawnmower is an indispensable and important tool in garden design and mowing. Especially for gardeners, the use of lawnmowers is commonplace, but it is not an easy job for lawn trimming. Heavy machines and roaring engines are stereotypes of lawn mowers. Designing a lawnmower that saves time, effort, efficiency, and low noise is the main purpose of this topic. The control core system of the new automatic lawn mower is based on the ARM Cortex-M3 architecture, using the STM32 F1 series as the control chip, using four-wheel drive encoder motor to achieve the drive.At the same time, it cooperates with MPU6050 chip to realize PID algorithm control to achieve precise motion of lawn mower.The operation mode uses remote control Wi-Fi remote control, which uses the NRF24L01 chip to transmit data to the core control board through SPI communication. In order to achie...
