在傳統智能小車驅動電路設計中,較多考慮使用直流電機還是步進電機,電機功率、能耗等性能參數。使用具有armCortexM4內核的STM32嵌入式平臺控制四輪的4個直流電機。文章基于PWM技術及PID算法,對四輪進行精準地速度、轉向及啟?？刂?實驗表明此小車具有優越各種地形適應能力。In the traditional intelligent car drive circuit design,DC motor or stepping motor,motor power,energy consumption and other performance parameters are considered.The four DC motors with four wheels are controlled by STM32 embedded platform with arm Cortex M4 kernel.Based on the PWM technology and PID algorithm,the accurate ground speed,steering,and START-stop control of the four wheels are carried out.The experiment shows that the vehicle has the superior adaptability to all kinds of terrains.
標簽：
stm32
智能小車
控制系統
上傳時間：
2022-04-02
上傳用戶：
PrefaceDuring the past years, there has been a quickly rising interest in radio access technologies for providingmobile as well as nomadic and fixed services for voice, video, and data. The difference indesign, implementation, and use between telecom and datacom technologies is also becoming moreblurred. One example is cellular technologies from the telecom world being used for broadband dataand wireless LAN from the datacom world being used for voice-over IP.Today, the most widespread radio access technology for mobile communication is digital cellular,with the number of users passing 5 billion by 2010, which is more than half of the world’s population.It has emerged from early deployments of an expensive voice service for a few car-borne users,to today’s widespread use of mobile-communication devices that provide a range of mobile servicesand often include camera, MP3 player, and PDA functions. With this widespread use and increasinginterest in mobile communication, a continuing evolution ahead is foreseen.This book describes LTE, developed in 3GPP (Third Generation Partnership Project) and providingtrue 4G broadband mobile access, STARTing from the first version in release 8 and through the continuingevolution to release 10, the latest version of LTE. Release 10, also known as LTE-Advanced,is of particular interest as it is the major technology approved by the ITU as fulfilling the IMTAdvancedrequirements. The description in this book is based on LTE release 10 and thus provides acomplete description of the LTE-Advanced radio access from the bottom up.Chapter 1 gives the background to LTE and its evolution, looking also at the different standardsbodies and organizations involved in the process of defining 4G. It also gives a discussion of the reasonsand driving forces behind the evolution.Chapters 2–6 provide a deeper insight into some of the technologies that are part of LTE and itsevolution. Because of its generic nature, these chapters can be used as a background not only for LTEas described in this book, but also for readers who want to understand the technology behind othersystems, such as WCDMA/HSPA, WiMAX, and CDMA2000.Chapters 7–17 constitute the main part of the book. As a START, an introductory technical overviewof LTE is given, where the most important technology components are introduced based onthe generic technologies described in previous chapters. The following chapters provide a detaileddescription of the protocol structure, the downlink and uplink transmission schemes, and the associatedmechanisms for scheduling, retransmission and interference handling. Broadcast operation andrelaying are also described. This is followed by a discussion of the spectrum flexibility and the associated
標簽：
4g
移動通信
上傳時間：
2022-07-08
上傳用戶：
