Ukusebenza okuqinisekileyo nge-MPU-6050: Ukuseta, ukulinganisa, kunye nokusetyenziswa
2024-04-25 9234

I-MPU-6050 Ngaba icandelo lokuqala lezinto ezihlanganisiweyo zeHlabathi eliDityanisiweyo le-6-Axis Motions, edibanisa i-3-Axis Gyroscope, i-3-Axis Accelerometer kunye neProssane yeNdawo yeDigital yeDigital (DMP).Injongo yokuyisebenzisa kukufumana i-angle yotyekelo lwento ukuba ilinganiswe (njenge-quadcopter, imoto yokulinganisa) kwi-X, Y, kunye ne-Axes, leyo, i-angle ye-quitle, i-angle ye-quitle kunye ne-engile kunye ne-engile.Sifunda le datha emithandathu ye-MPU-6050 (ixabiso le-Axis le-Axis le-Axis kunye ne-Axis ye-Axis ye-Axis ye-Angland ye-ANGROCT) nge-I2C.Emva kokupeyisha ukwenziwa kwe-fusion, i-pitch, roll, kunye nee-angles zinokubalwa.Njengesalathiso sexabiso lemilinganiselo yokuxabiseka, inkcazo yendlela yokudityaniswa kweSensermes injengeboniswa kumzobo ongezantsi, oko kukuthi, amanqaku afanelekileyo akwindawo elungileyo ye-X-I-Axis, umnwe wesalathiso obonisa ulwalathiso oluqinisekileyo lwe-Y-Axis, kwaye umnwe ophakathi uthintela ulwalathiso oluqinisekileyo lwe-z-axis. Isikhokelo).

Ngebhasi yayo enikezelweyo ye-I2C, i-MPU-6050 iyakwazi ukufumana igalelo kwiKhompyutha ye-Axis engaphandle ye-Axis, ibonelela ngemveliso epheleleyo ye-9-Axis ye-Axis ye-Axis ™Iphelisa ingxaki engaguqukiyo phakathi kwe-Gyroscope edibeneyo kunye nexesha lokutshaya kwaye linciphisa kakhulu indawo yokupakisha xa kuthelekiswa nezisombululo zenxalenye yamacandelo amaninzi.Xa uqhagamshelwe kwi-axis magnetometer, i-MPU-60X0 iyakwazi ukubonelela nge-9 ye-Axis Motion i-I-Axis fungelo kwi-I2C ye-I2C okanye i-SPI ifumaneka kuphela kwi-MPU-6000 kuphela.

- I-AIS328DQTR

- I-ICM-20689

- I-MPU-3300

- I-MPU-6000

- I-MPU-6500

Umenzi we-MPU-6050 yi-TDK.Emva kokuba abo basungulwa zimbini ze-TDK, uGqr Yogoro Kato noTei Toi, owenzekileyo kwiTokyo, babeka eTokyo denkikagaku k.k.Ngo-1935.Iphothifoliyo yemveliso ye-TDK igubungela izinto eziphathekayo ezinjengee-cemaramic, iimveliso ze-Aluminium, iimveliso ze-aluminium, izinto eziphakamileyo, kunye neenkqubo zenzwa kunye nexinzelelo,Ukongeza i-magnetic kunye ne-menis. Ukongeza, i-TDK ikwabonelela ngezinto zombane kunye nezixhobo zamandla, iintloko zemagnetic kunye nezinye iimveliso.Imveliso yayo yemveliso iquka i-TDK, i-EPCOS, i-Invennse, micros, i-Tronics kunye ne-TDK-elda.

Phakathi kwazo, i-SCL kunye ne-SDA ziindawo ze-IIC ezinxulumene ne-MCU, kunye ne-MCUOLS i-MPU-6050 ngale nto ic increen.Kukho ne-iic i-IIC, eyi-AUX_CL kunye ne-AUX_DA.Le ntsingiselo ingasetyenziselwa ukudibanisa izixhobo zaNgena, ezinje ngezinzwa zemagnethi, ukwenza i-axis ye-axis yethoba.I-Vlologic yi-IO Portage voltage.Le PIN inokuxhasa ubuncinci be-1.8v.Sihlala siyiqhagamshela ngqo kwi-vdd.I-AD0 yidilesi yedilesi ye-IIC ye-IIC yekhoboka (eqhagamshelwe kwi-MCU).Le pi ilawula eyona dilesi iphantsi ye-IIC.Ukuba iqhagamshelwe kwi-GND, idilesi ye-IIC ye-MPU-6050 yi-0x68;Ukuba iqhagamshelwe kwi-vdd, yi-0x69.Nceda uqaphele ukuba idilesi apha ayibandakanyi eyona iphantsi yosulelo lwedatha (eyona iphantsi isetyenziselwa ukumela umsebenzi wokufunda nokubhala).Kwi-MWBALAHC15, i-AD0 iqhagamshelwe kwi-GND, ke idilesi ye-IIC ye-MPU-6050 yi-0x68 (ngaphandle kweyona nto iphantsi).

I-MPU-6050 isebenzisa i-IIC ukunxibelelana ne-STC15, ngoko kufuneka siqalise i-SDA kunye ne-SCL yedatha enxulumene ne-MPU-6050 kuqala.

Eli nyathelo libuyisela zonke iirejista ngaphakathi kwi-MPU-6050 kwixabiso lazo elisisiseko, elifezekiswa ngokubhala i-1 ukuya kwiRejista yoLawulo lwaMandla 1 (0x6B).Emva kokuseta kwakhona, irejista yolawulo lwamandla 1 iya kubuyiselwa kwixabiso elingagqibekanga (0x40), kwaye le rejista kufuneka kamva ibekwe kwi-0x00 ukuvusa i-MPU-6050 kwaye iyibeka kwimeko yesiqhelo yokusebenza.

Kweli nyathelo, sibeka uluhlu olupheleleyo (i-FSR) yezinzwa ezimbini ngerejista yoqwalaselo lwe-Gyroscope (i-0x1b) kunye nerejista yokukhawulezisa irejista yoqwalaselo (i-0x1c) ngokulandelelana.Ngokwesiqhelo, sibeke uluhlu olugcweleyo lwe-gyroscope ukuya kuthi ga kwi-± 2000dps kunye noluhlu olupheleleyo lwe-accelerometer ukuya ± 2g.

Apha, kufuneka siqwalasele le parameters ilandelayo: Cima ukuphazamisa, khubaza isinxibelelanisi se-AUX I2C, sikhuse i-FIFO, setha i-Gyroscope i-Shinal Deling Shicial Filit (i-DLPF).Kuba asisebenzisi iphazamisayo yokufunda idatha kwesi sahluko, umsebenzi wokuphazamiseka kufuneka ucinywe.Kwangelo xesha, kuba asisebenzisi i-AUX I-I2C ye-AUXLe misebenzi inokulawulwa ngerejista yokuphazamiseka (0x38) kunye nerejista yokuLawula abasebenzisi (0x6a).I-MPU-6050 inokusebenzisa i-famina ukugcina idatha yeSensor, kodwa asiyisebenzisi kwesi sahluko, ngenxa yoko zonke izitshati ze-timeo kufuneka zivaliwe.Oku kunokulawulwa ngokubhekisele kwirejista ye-FIFO (i-0x23).Ngokungagqibekanga, ixabiso lale rejista ngu-0 (oko kukuthi, i-fifiti ikhubazekile), ke sinokusebenzisa ixabiso elingalunganga ngqo.Ireyithi yesampulu ye-Gyroscope ilawulwa yirejista yesampuli yesampuli (0x19).Ngokwesiqhelo, sibeka le ntlawulo yesampulwa ukuya kwi-50. Uqwalaselo lwefilitha yedijithali yedijithali (i-DLPF) igqityiwe kwirejista yoqwalaselo (i-0x1a).Ngokubanzi, siya kuseta i-DLPF ukuya kwisiqingatha se-bandwidth ukulinganisa ukuchaneka kwedatha kunye nesantya sokuphendula.

Ukuseta komthombo wewotshi kuxhomekeke kwirejista yolawulo lwamandla 1 (0x6B), apho iifits eziphantsi zalerejista zimisele ukukhetha umthombo wewotshi.Ngokungagqibekanga, ezi bits zintathu zimiselwe ku-0, okuthetha ukuba le nkqubo isebenzisa i-8mhz ye-RC ye-RC ye-oscillator njengomthombo wewotshi.Nangona kunjalo, ukwenzela ukuphucula ukuchaneka kwewotshi, sihlala siyibeka kwi-1 kwaye ukhethe i-X-Axis Gyroscope Pll njengomthombo wewotshi.Ukongeza, ukunika amandla inzwa ye-anglocity ye-anglocity kunye nenzwa yesantya kwinyathelo elibalulekileyo kwinkqubo yokuqalisa.Zombini ezi zinto zisetyenziswa ngerejista yolawulo lwamandla 2 (0x6C).Beka nje i-bit ehambelana nayo ukuya kwi-0 ukwenza i-SENATIGRATION.Emva kokugqiba la manyathelo angasentla, i-MPU-6050 ingangena kwinqanaba eliqhelekileyo lokusebenza.Ezo rejista ezingabekwanga ngokukodwa ziya kuthatha amaxabiso asingagqibekanga yinkqubo.

Inzwa ixhotywe nge-gyro ngaphakathi, eya kuhlala ikho ngokuhambelana nendlela yokuqala ngenxa yempembelelo ye-gyroscopic.Ke ngoko, sinokubala ulwalathiso kunye ne-engile yokujikeleza ngokubukela ukuphambuka kwe-gyro ukusuka kwicala lokuqala.

Isixhobo se-Acallrometer sisixhobo esinokulinganisa ukukhawulezisa kwaye sisebenza ngokusekwe kumgaqo wefuthe le-Piezoeectric.Ngexesha lokukhawulezisa, i-sensor ilinganisa amandla angenakusebenza kwibhloko enkulu kwaye emva koko babala ixabiso lokukhawulezisa ukusebenzisa umthetho wesibini weNewton.

I-DMP yimodyuli yokulungisa idatha kwi-MPU60 ye-Mpumithi eyakhelweyo ye-Algorithm eyakhelweyo ye-Algorithm yokufumana idatha kwi-Gyroscope kunye ne-AclerometerS kunye nokulungisa i-quanarions.Eli nqaku linciphisa kakhulu umthwalo womsebenzi we-minegrariferal kwaye ithintela ukungcola okuqinisekileyo kunye nenkqubo ye-fusion yedatha.

Amanqaku:

I-Queterrions: I-Queterters ilula i-quest amanani alula.Amanani antsonkothileyo adityaniswe ngamanani okwenyani kunye neyunithi yengcinga i, apho ndi ^ 2 = 1.

-Iithoyi

-Usetwa ngesandla kunye nomdlalo ophathwayo

- Abalawuli bomdlalo osekwe kwintshukumo

-Iitekhnoloji zeBlurfree ™ (yevidiyo / isaziso somfanekiso)

-Iiteknoloji ze-AIRAGNER ™ (khuseleko / uqinisekiso)

-Ukutshintsha kwempumelelo ™ I-Ig ™

-Izinzwa zempilo yempilo, ukutya kunye nemidlalo

-Umdlalo owenziwe ngentshukumo kunye nenkqubo yesicelo

-Umdlalo we-motioncomm ™

-Ienkonzo ezisekwe kwiindawo, amanqaku enzala, kunye nokufikelelwa okufileyo

- 3D Ulawulo olude lwe-DTVs le-Intanethi

-Ukuchukumisa indawo (ye "hayi"

Singathatha ezi ndlela zilandelayo zokunciphisa ingxolo ye-MPU-6050.

I-calibrarometer kunye ne-gyroscope ye-MPU-6050 inokuphelisa i-chaas kunye nempazamo yezixhobo, ngaloo ndlela zinciphisa isiphumo sengxolo.Inkqubo yokulinganisa ihlala inamanqanaba amabini: I-Atic Geliberation kunye nokuhamba ngokuhamba kwexesha.

Ukongeza i-filiter capecitoors kumgca wamandla we-Mpu-6050 unokunciphisa ifuthe lokuhambisa ingxolo kwinzwa.Okwangoku, ngexesha lokubekwa kwe-PCB, kufuneka sizame ukugcina i-MPU-6050 kude nemithombo yokuphazamiseka, njengemigca emikhulu ye-frequency kunye necandelo elinamandla.

Emva kokuqokelela idatha eluhlaza ukusuka kwi-MPU-6050, sinokongeza ikhonkco lokucoca isoftware kwidatha yokuqala yokuphelisa ukuphazamiseka okhethekileyo.Iindlela eziqhelekileyo zokucoca isoftware zibandakanya ukugcwala, ukucoca i-filian, uKalman ucoca njalo njalo.

I-MPU-6050 inesihluzo sangaphakathi esidibeneyo sedijithali, esinokusetyenziselwa ukunciphisa ingxolo engapheliyo ngokuseta rhoqo.Ngokukodwa, sinokuseta i-creaff i-clitha yokucoca idijithali ngokuguqula irejista yokugcina i-MPU-6050 ukuphelisa ingxolo ephezulu ebangelwa yi-A / D isampulu.

I-MPU-6050 yi-axis-aclesslerometer yesithandathu kunye ne-Gyroscope Esonsor enokusetyenziselwa ukulinganisa intshukumo kunye nesimo sezinto.Ubalo lwe-Trajectory olwenziwayo olusekwe kwi-MPU-6050 inokufezekiswa ngala manyathelo alandelayo:

Inyathelo lokuqala kukufunda idatha yenzwa.Kufuneka sifunde i-Aclormeter kunye ne-Gyroscope data kwiinzwa ze-MPU-6050 esebenzisa abaqhubi abafanelekileyo kunye nemisebenzi yethala leencwadi.Ezi datha zihlala ziphuma kwifomathi yedijithali, ke ezinye iindlela zokuguqula kunye nomsebenzi wokulinganisa uyacelwa ukuba uziguqulele ibe yimilinganiselo yokwenyani kwiyunithi yomzimba.

Inqanaba lesibini kukubala ukukhawuleza.Okokuqala, kufuneka senze idatha evela kwi-Aclormeter ukuze ifumane ukukhawulezisa into kwi-Axis nganye.Emva koko, ukwenzela ukubala i-velocity kunye nokususwa kwento kwi-Axis nganye, kufuneka sidibanise idatha yokukhawulezisa.Iindlela zokudityaniswa kwamanani, ezinje ngendlela ye-EULER okanye indlela yeLungur-KUTTA, zihlala zisetyenziswa kule nkqubo ukuqinisekisa ukuchaneka kubalo lwendawo yokufuduka.

Inqanaba lesithathu kukubala i-velocity ye-angland.Sebenzisa idatha ye-gyroscope, i-angland velocity yento kwi-Axis nganye inokubalwa.Kwakhona, le datha kufuneka ilungelelaniswe kwaye iguqulwe ukuze ifumane i-angland velocity ekhethekileyo.

Inqanaba lesine kukubala ukujikeleza.Ngokudibanisa idatha ye-angland ye-angland, i-angle yokujikeleza kwento kwi-Axis nganye inokubalwa.Oku kunokwenziwa kusetyenziswa iindlela zokudityaniswa kwamanani anjengendlela ye-EULER okanye indlela ye-longe-kutta yokubala i-engile.

Inyathelo lesihlanu kukudibanisa idatha.Sidibanisa idatha evela kwi-Aclerometers kunye ne-gyroscopes ukufumana isimo sengqondo esipheleleyo kunye nolwazi lwento.Oku kunokwenziwa kusetyenziswa ii-algorithms ezinje nge-quaternion yesimo sengqondo se-quaternion okanye i-Euler Angle Solver.

Inyathelo lesithandathu kukubonisa iziphumo.Siguqula i-compojection yento eshukumayo kwiseti yamanqaku kwinkqubo ye-3D yokuLungelelanisa kwaye ibonisa ukusebenzisa izixhobo ezifanelekileyo zokubonwayo zokuqonda okungakumbi kwendlela yokuhamba ngendlela yentshukumo yento.

Iziphumo ezifunyenweyo zibonise ukuchaneka okwaneleyo kwe-1% nangokuthembeka, ukungqinisisa ubungakanani obufanelekileyo beShaft kunye nemigangatho ephezulu yemveliso yokuphakamisa.

Ukufunda iirejista zangaphakathi ze-MPU6050, inkosi ithumela imeko yokuqalisa, ilandelwa yidilesi yekhoboka le-I2C kwaye ubhale kancinci, emva koko idilesi yerejista eza kufundwa.

Kwindlela yokulandela umkhondo wezempilo, izixhobo zokulandela umkhondo.Kwi-drones kunye ne-quadcopters, i-MPU6050 isetyenziselwa ukulawulwa kwezikhundla.Isetyenzisiwe kwingalo yerobhothi.Izixhobo zokulawulwa kwezandla.

I-MPU6050 I-IMU ye-Im I-IMESOR BLOST ifundela idatha kwi-Mpu-6050I-Vible Iziphumo zokuKhawuleza, iRhafu ye-Anglar, kunye neHard kwi-Axes yeSensor yeSensor.

Le yinkqubo ye-MPU6050 ye-MPU6050 ye-Mpumithi edibanisa idatha evela kwi-Aclormeter kunye ne-gyroscope.I-DMP sisitshixo sokusebenzisa i-MPU6050 kwaye icacisiwe ngokweenkcukacha kamva.Njengabo bonke i-microprocessisticessisticessars I-DMP ifuna i-firloward ukuze isebenze.