Isikhokelo esiGqibeleleyo se-MEMS MPU6050 kunye ne-LSM9DS1: Ithiyori, ukuziqhelanisa, kunye nokuSebenzisa amatyala

Kwihlabathi lanamhlanje letekhnoloji kunye ne-electronics, i-MEMS (i-Micro-Electro-Mechanical Systems) i-sensor ziye zaba sisixhobo esibalulekileyo kuzo zonke iintlobo zeeprojekthi, ukusuka kwi-robotics ukuya kwi-automation yasekhaya kunye nokunxiba. Iimodyuli ezidibanisa i-accelerometers kunye ne-gyroscopes, njenge MPU6050 kunye I-LSM9DS1, zimbini zezona zikhethwa zithandwa kakhulu ngenxa yokuguquguquka kwazo, ixabiso eliphantsi, kunye nokulula ukudibanisa kunye ne-microcontrollers njenge-Arduino kunye namanye amaqonga. Ukuqonda ngokucokisekileyo ukusebenza kwabo, iimpawu ezizodwa, umahluko, kunye neyona ndlela ilungileyo yokuziphakamisa kubalulekile ekuyileni iinkqubo ezichanekileyo. ukulinganisa intshukumo, uqhelaniso kunye notyekelo.

Kweli nqaku siza kukuthatha inyathelo ngenyathelo kuyo yonke into odinga ukuyazi malunga nezinzwa MPU6050 y I-LSM9DS1: basebenza njani, zeziphi izicelo abanazo, bazidibanisa njani kwiprojekthi yakho, bazilinganise, batolike ufundo lwabo ngokuchanekileyo kwaye benze uninzi lwamandla abo, ukudibanisa ulwazi oluqokelelwe kwezona zifundo zibalaseleyo kunye namanqaku obugcisa, phantsi kombono osebenzayo nohlaziyiweyo ngolwimi olusondeleyo, ukuze ukufikelela kwiziphumo zobungcali kuphuhliso lwakho.

Yintoni inzwa ye-MEMS kwaye isebenza njani?

Ngaphambi kokungena kwiimodeli ezithile ze-MPU6050 kunye ne-LSM9DS1, kubalulekile ukucaca malunga nombono we Uluvo lwe-MEMS. Ezi zixhobo, zikwabizwa ngokuba IiNkqubo zeMicromechanical Electromechanical, hlanganisa i-microscopic mechanical components kunye neesekethe ze-elektroniki kwi-chip enye, ukwenzela ukuba zikwazi ukubona ukuhluka kwezinto ezibonakalayo-ezifana nokukhawuleza, ukujikeleza, okanye ukungcangcazela-kwaye ziguqulele kwiimpawu zombane ezinokutolikwa ngeenkqubo zedijithali.

Kwimeko ye-MEMS i-accelerometers kunye ne-gyroscopes, ukusebenza kwabo kusekelwe kwimigaqo efana nale:

• Umthetho kaNewton wokukhawulezisa (a = F / m), usebenzisa izakhiwo zangaphakathi ezisebenza njengemikroskopu kunye nemithombo.
• Isiphumo se-Coriolis sisetyenziselwa ukubona iintshukumo ze-angular, zithatha ithuba lokuphambuka okwenzeka kwisihlwele esincinci xa sijikeleza ngaphakathi kwe-chip.
• Iziguquli zangaphakathi ze-ADC ukuguqula ukwahluka komzimba kumaxabiso edijithali anesisombululo esiphezulu (ngokuqhelekileyo iibhithi ezili-16).

Ezi zakhono zenza i-MEMS ibe luncedo kakhulu kwizicelo ezifunayo umlinganiselo woqhelaniso, utyekelo okanye intshukumo kumacala amathathu, njengeenkqubo zokukhangela, ukuzinzisa ikhamera, iiwotshi ezikrelekrele, iidrone, iirobhothi, nokunye okuninzi.

Iimpawu eziphambili zeMPU6050

El MPU6050 Mhlawumbi yeyona nto isetyenziswa kakhulu i-MEMS inzwa yentshukumo phakathi kwabenzi, iinjineli kunye nee-hobbyists ezifuna isisombululo esinoqoqosho kunye nesithembekileyo sokulinganisa ukukhawuleza kunye nokujikeleza kwii-axes ezintathu.

Iimpawu zayo eziphambili zobugcisa ziquka:

• I-accelerometer ye-3-axis: Iyakwazi ukufumanisa ukukhawuleza kwi-X, Y kunye ne-Z axes, kunye noluhlu olucwangcisiweyo lwe-± 2g, ± 4g, ± 8g kunye ne-±16g.
• 3 i-axis gyroscope: Ilinganisa i-angular velocities kuzo zontathu ii-axes, kunye novakalelo oluhlengahlengiswayo kwi-±250, ±500, ±1000 kunye ne-±2000 degrees ngesekhondi.
• Iprosesa yentshukumo yedijithali (DMP): Ibandakanya i-microprocessor yangaphakathi ezinikele ekwenzeni izibalo ezinzima iMotion Fusion (i-sensor fusion), ukubala idatha efana ne-quaternions, ii-angles ze-Euler kunye ne-rotation matrices ngaphandle kokulayisha ezo zibalo kwi-microcontroller engundoqo.
• Imveliso yedijithali nge-I2C: Unxibelelwano ngebhasi ye-I2C kunye needilesi ezimbini ezinokwenzeka (zinokulungiswa nge-pin AD0 ukuya kwi-0x68 okanye i-0x69), evumela ukusebenza kunye ne-Arduino eninzi, i-ESP kunye neebhodi ezifanayo.
• 16-bit ADC converter: Inika isisombululo esiphezulu ekuqokeleleni idatha.
• Inzwa yobushushu edibeneyo
• Amathuba okwandisa ngemagnetometer yangaphandle: Ngebhasi ye-I2C yokuncedisa, i-MPU6050 inokufunda ezinye iinzwa ezixhunyiwe ezifana ne-HMC5883L ethandwayo (magnetometer), ukwenza i-9-axis IMU epheleleyo.
• I-voltage yokusebenza eguquguqukayo: Inokuthi inikwe amandla kwi-3,3V okanye kwi-5V ukuba i-motherboard efana ne-GY-521 isetyenzisiwe, ebandakanya umlawuli.

Ngaphaya koko, ubukhulu bemodyuli obubambeneyo (malunga ne-25 x 15 mm) kunye nenyani yokuba iza ilungele ukudityaniswa kwibhodi yesonka iyenza ilungele zombini uvavanyo kunye nophuhliso lokugqibela.

Yintoni i-LSM9DS1 kwaye yahluke njani?

Ngenxalenye yalo, i I-LSM9DS1 Lukhetho oluqhubela phambili nolwanamhlanje phakathi kosapho lwe-MEMS IMU, nangona ingathandwa kakhulu kuneMPU6050 kwiiprojekthi zabaqalayo. Idibanisa oku kulandelayo kwitshiphu enye:

• Un I-accelerometer ye-3-axis
• Un I-3 axis gyroscope
• Un imagnetometer nayo i-3-axis

Oku kuthetha ukuba i-LSM9DS1 yi 9 I-DoF (Izidanga zeNkululeko) IMU, ikuvumela ukuba ulinganise isantya, isantya se-angular kunye nemagnethi yomhlaba kwimilinganiselo emithathu, ukubonelela ngokufunda okupheleleyo nokuchanekileyo indawo epheleleyo kunye noqhelaniso ngokubhekiselele kuMhlaba.

Phakathi kweenzuzo zayo eziphambili ngaphezu kweMPU6050 zezi:

• Udibanisa abenzi boluvo abathathu kwitshiphu enye yomzimba, ukugcina indawo kunye nokwenza lula uqhagamshelwano.
• Unganxibelelana nobabini I2C njenge-SPI, nto leyo eyinika ukuguquguquka okukhulu kwamaqonga ahlukeneyo.
• Uluhlu kunye nobuntununtunu benzwa nganye (i-accelerometer, i-gyroscope, i-magnetometer) zilungelelaniswa ngokuguquguqukayo.
• Inohluzo lwedijithali oluphambili kunye nokukhethwa kwesiganeko.

I-LSM9DS1 isoloko ikhethwa kwiiprojekthi apho ulungelelwaniso olupheleleyo lufunekayo (umzekelo, iikhampasi, iinkqubo zokuhamba, okanye ukuzinzisa indiza) ngaphandle kwesidingo seenzwa ezongezelelweyo zangaphandle.

Imigaqo yokusebenza ye-MEMS i-accelerometers kunye ne-gyroscopes

Ukuqonda ngokwenene ukuba zisebenza njani ezi modyuli ze-MEMS, kubalulekile ukuqonda iikhonsepthi ezibonakalayo kunye nendlela eziguqulela ngayo kwidatha yedijithali:

I-Accelerometer

Un MEMS iaccelerometer ilinganisa ukukhawuleza kwento (ukutshintsha kwesantya ekuhambeni kwexesha) ngokunxulumene neeasi ezintathu zesithuba. Ngaphakathi, isekelwe kubukho a ubunzima obunqunyanyisiweyo obuncinci ngeeankile eziguquguqukayo okanye imithombo emincinci. Xa inzwa ikhawuleza, lo bunzima buguquka kancinci, kwaye olu tshintsho luguqulwa lube ngumqondiso wombane usebenzisa i-variable or piezoelectric capacitors.

• I-accelerometer ihlala ibona ubuncinane enye yokunyusa: i umxhuzulane (9,81 m/s²), nokuba isixhobo soluvo sisekho.
  Oku kusetyenziselwa ukubala ukuthambekela ngokubhekiselele kwindiza ethe tye.
• Ngokudibanisa ukukhawuleza ngokubhekiselele kwixesha, isantya kwaye, ngokulandelelana, isikhundla esihanjwayo sinokufumaneka, nangona le misebenzi ivame ukuqokelela iimpazamo.

IGyroscope

El I-MEMS gyroscope Sebenzisa i Isiphumo seCoriolis Ukubona isantya apho umzimba ujikeleza khona kwii-axes zika-X, Y kunye no-Z. Xa i-sensor ifumana ujikelezo, i-vibrating mass yangaphakathi ihlupheka ngokuphambuka ngokomlinganiselo isantya se-angular, kwaye olo tshintsho lulinganiswa ngekhompyutha.

• Imilinganiselo yegyroscope isantya se-angular: ngokukhawuleza kangakanani uqhelaniso lwesinzwa kwi-axis nganye.
• Ukudibanisa isantya se-angular kunye nexesha kunika i-engile yokujikeleza (indawo ye-angular), nangona lo msebenzi uvelisa iimpazamo eziqokelelweyo ezibizwa ngokuba begcina.

Kutheni udibanisa i-accelerometer kunye ne-gyroscope?

Ngokwazo, zombini ii-accelerometers kunye ne-gyroscopes zinemida xa kumiselwa ukujongwa kwento:

• Isantya sokukhawulezisa: Ukuchaneka ekuboneni ukuthambekela kwi-axis ethe nkqo (usebenzisa umxhuzulane), kodwa uvakalelo kakhulu kwintshukumo yequbuliso, ukukhawuleza kwangaphandle okanye ukungcangcazela.
• I-Gyroscope: Ilungele ukulinganisa utshintsho olukhawulezayo kwi-orientation, kodwa inengxaki yokuqokelela impazamo ukuba imveliso yayo idityanisiwe ngexesha elide.

Ke ngoko, uninzi lwezicelo ludibanisa idatha evela kuzo zombini izinzwa, nto leyo iphucula kakhulu ukuchaneka kunye nokuthembeka kokufunda. i-engile, ukuthambekela okanye indawoUkufezekisa oku, zisetyenziswa izihluzi zedijithali njengeSihluzo soNcedo okanye isihluzo seKalman, esidibanisa kwaye silinganise iinzuzo zoluvo ngalunye.

Ukuqalisa ngeMPU6050: uqhagamshelo kunye namathala eencwadi

Idayagram yoqhagamshelo oluqhelekileyo

Imodyuli MPU6050 Ngokuqhelekileyo ifakwe kuhlobo lwepleyiti I-GY-521, eququzelela kakhulu ukudibanisa kunye ne-microcontrollers ezifana ne-Arduino.

Uqhagamshelo olusisiseko lokusebenzisa imodyuli kwimo ye-I2C luqhelekile:

MPU6050	Arduino Uno/Nano/Mini	Arduino Mega/DUE	UArduino Leonardo
VCC	5V	5V	5V
GND	GND	GND	GND
SCL	A5	21	3
I-SDA	A4	20	2

Imodyuli ine-resistors eyakhelwe-ngaphakathi yokutsala, ngoko ke akukho mfuneko yokongeza ngaphandle.

Idilesi ye-I2C kunye ne-AD0 pin

I-MPU6050 ikuvumela ukuba uqwalasele idilesi ye-I2C kuyo 0x68 (ngokungagqibekanga, xa i-pin ye-AD0 ikwi-GND okanye ingadityaniswanga) okanye 0x69 (xa i-AD0 ixhunywe kwi-high / 5V). Oku kwenza kube lula ukusebenzisa izinzwa ezininzi kwibhasi enye.

Ithala leencwadi elicetyiswayo: I2Cdevlib nguJeff Rowberg

Ukusebenza ngokukhululeka kunye ne-MPU6050 kwi-Arduino, uluntu lucebisa ukuba kusetyenziswe la mathala alandelayo:

• I2CDev: Iququzelela unxibelelwano lwe-I2C kunye neenzwa ezininzi.
• MPU6050: Ikuvumela ukuba ufikelele kuyo yonke imisebenzi yoluvo, ufunde amaxabiso alungisiweyo, uhlengahlengiso, kwaye usebenzise iDMP.

Ziyafumaneka kwi: https://github.com/jrowberg/i2cdevlib

Nje ukuba zikhutshelwe, zivule ngokulula kwaye uzibeke kwifolda mathala eencwadi ukusuka kwi-Arduino IDE.

Ukufunda idatha esisiseko: ukukhawuleza kunye nesantya se-angular

Nje ukuba iMPU6050 iqhagamshelwe kwaye iqwalaselwe, inyathelo elilandelayo kukwenza ukufundwa kwee-accelerations kunye ne-angular velocities kumazembe amathathu. Inkqubo esisiseko, usebenzisa ithala leencwadi elikhankanywe ngasentla, ibandakanya:

1. Qalisa umenzi woluvo usebenzisa umsebenzi isivamvo.qalisa().
2. Jonga uqhagamshelwano nge isivamvo.testConnection().
3. Funda amaxabiso e-RAW (engalungiswanga) ukusuka kwi-accelerometer kunye ne-gyroscope kwizinto eziguquguqukayo ezifana nezembe, ay, az yokukhawulezisa kunye ne-gx, i-gy, i-gz yokujikeleza.
4. Thumela idatha kwizibuko lothotho ukubonisa iziphumo.

Le datha ibonakala njenge-16-bit integers kuluhlu .

Ukulinganisa inzwa ye-MPU6050

Esinye sezigaba eziphambili xa usebenzisa i-MPU6050 yi ukulinganisaKuxhaphake kakhulu ukuba i-sensor ibuyisele amaxabiso angengo-zero, nokuba ithe tye ngokugqibeleleyo kwaye iphumle, ngenxa yolungelelwaniso olunokwenzeka xa uthengisa itshiphu kwimodyuli, okanye ukungafezeki okuncinci kokwenziwa.

Ukulinganisa inzwa kubandakanya ukumisela i i-accelerometer kunye ne-gyroscope offsets kwi-axis nganye kwaye uziqwalasele kwi-sensor ukuze ufundo lusekelwe kulwazi oluchanekileyo. Inkqubo eqhelekileyo inokubandakanya:

• Funda uhlengahlengiso lwangoku usebenzisa imisebenzi efana getXAccelOffset(), getYAccelOffset(), Njl
• Beka inzwa kwindawo ethe tye kwaye ithule ngokupheleleyo.
• Usebenzisa inkqubo, lungelelanisa uhlengahlengiso de ufundo oluhluziweyo (umzekelo, usebenzisa i-avareji ehambayo okanye isihluzo esisezantsi) kudibana kumaxabiso afanelekileyo: izembe = 0, ay = 0, az = 16384, gx = 0, gy = 0, gz = 0 kwimo ekrwada (RAW).
• Cwangcisa la maxabiso kunye nemisebenzi setXAccelOffset (), setYAccelOffset(), Njl

Nje ukuba ilinganiswe ngokufanelekileyo, inzwa iya kubonelela ngamaxabiso achanekileyo kwaye azinzileyo, ayimfuneko kwizicelo ezibalulekileyo ezifana nokuzinzisa okanye ukuhamba.

Ukulinganisa kunye nokuguqula ukufundwa kwiiyunithi zomzimba

Ukufundwa okukrwada okuvela kwi-MPU6050 kufuneka kuguqulwe kwiiyunithi ze-SI (INkqubo yeZizwe ngeZizwe) ukuze zitolikwe kwaye zisetyenziswe kwizibalo ezibonakalayo okanye ukubonwa kwedatha:

• Ukukhawulezisa: Uluhlu olungagqibekanga luyi-±2g, elilingana ne-±19,62 m/s²Ixabiso le-RAW le-16384 lihambelana ne-1g; ngoko ke, ukuguqulela ku-x am/s²: izembe * (9,81/16384.0).
• Isantya se-Angular: Ngokungagqibekanga, ±250°/s, ngoko ke uguqulo luya kuba: gx * (250.0 / 32768.0) ukuguqula ukusuka kumaxabiso eRAW ukuya kwiidigri ngomzuzwana.

Le miba yesikali iyatshintsha ukuba uqwalasela isivamvo kolunye uluhlu, ngoko ke kubalulekile ukuba uhlale ujonga umzi-mveliso okanye useto lwesiko phambi kokutolika idatha.

Bala ukuthambeka usebenzisa i-accelerometer kuphela

Xa i-sensor iphumle okanye iphantsi kwempembelelo yomxhuzulane kuphela, ufundo lwe-accelerometer lungasetyenziselwa ukubala i-engile yotyekelo ngokubhekiselele kwi-X kunye ne-Y axesIifomula eziqhelekileyo zemathematika zisebenzisa imisebenzi yetrigonometric:

• Ku-X-inclination: atan(izembe / sqrt(ay² + az²)) × 180/π
• Ye-Y-slant: atan(ay / sqrt(ax² + az²)) × 180/π

Oku kubonelela nge-engile yokuthambekela ngokubhekiselele kwi-axis nganye ehambelana nendiza yomxhuzulane, nangona ukuba inzwa iyashukuma okanye ifumana enye i-accelerations, la maxabiso anokuguqulwa.

Ukubala ii-engile zokujikeleza ngegyroscope

I-gyroscope ikuvumela ukubala ukuguquguquka kwe-engile ngokudityaniswa kwe-angular velocity ixesha elidlulele. Ngokwezibalo:

• I-engile ilingana nendibaniselwano yesantya se-angular kwisithuba sexesha elinikiweyo: θ = θ₀ + ∫wdt

Ngokwesiqhelo, ezi zibalo zinokwenziwa kwiiluphu zeprogram, ukushwankathela isantya se-angular esiphindwe ngesampulu yexesha (dt) ukufumana i-engile eqokelelweyo.

Kubalulekile ukulawula impazamo yokudibanisa, ekubeni iimpazamo ezincinci ziqokelela, zibangela begcina.

Izihluzi ze-fusion ye-Sensor: Eyongezelelweyo kunye ne-Kalman

Ukunciphisa iimpazamo zokutolika kunye nokwenza uninzi lwenzwa nganye, i-algorithms yokudibanisa idatha iyasetyenziswa:

Isihluzo esongezelelweyo

Esi sihluzo sidibanisa i-engile eqikelelwayo yigyroscope (esebenza kakuhle kwixesha elifutshane) kunye ne-engile ebalwa yi-accelerometer (ethembeke ngakumbi kwixesha elide kodwa elinomsindo). Ifomula eqhelekileyo yile:

Iengile_yokuGqibela = α × (Iengile_Edlulileyo + i-Angular_velocity×dt) + (1-α) × Iengile_ye-Accelerometer

Apho u-α uhlala phakathi kwe-0,95 kunye ne-0,99. Ivumela ukufumana ufundo oluzinzileyo kunye nokunciphisa begcina.

Isihluzo seKalman

Okuphambili kakhulu, esi sihluzo sidibanisa imilinganiselo, sithathela ingqalelo ukungaqiniseki komlinganiselo ngamnye kunye nolungelelwaniso lwazo, ukufikelela uqikelelo oluchanekileyo kubukho bengxolo. Isetyenziswa kakhulu kwiinkqubo zokukhangela kunye neerobhothi eziphambili, nangona ifuna amandla amakhulu okubala.

Ukulinganisa kwe-3D kunye nombono wokuqhelaniswa (Yaw, Pitch, Roll)

Isicelo esinomdla yi umboniso wexesha lokwenyani lokuqhelaniswa ne3D yento, efana nedrone okanye irobhothi, ngokumela ii-engile Yaw, Pitch kunye Roll.

Oku kuphunyezwa ngokudlulisa idatha ecwangcisiweyo kwisoftware yemizobo, usebenzisa izixhobo ezinje ngeSerial Plotter okanye iinkqubo ezithile ze3D ukujonga nokuhlalutya iintshukumo. Ngale ndlela, unokuqonda ngokubonakalayo ukuba inkqubo yakho ijongwe njani esithubeni.

Ufundo olwandisiweyo: ukusetyenziswa kwemagnetometer kunye ne-LSM9DS1 sensor

El I-LSM9DS1 idibanisa iaccelerometer, gyroscope kunye nemagnetometer kwichip enye, evumela ukuba kufunyanwe idatha indawo epheleleyo kunye noqhelanisoUkongeza kumlinganiselo wokukhawulezisa kunye nokujikeleza, inokubona umhlaba wemagnethi womhlaba ukuba:

• Bala i azimuth ngokupheleleyo, iluncedo kuhambo kunye neekhampasi zedijithali.
• Ukuphuhlisa iinkqubo zesikhokelo ngaphandle kwesidingo seenzwa ezongezelelweyo zangaphandle.
• Fuse idatha kuzo zonke izinzwa zoluvo lwendawo echanekileyo kakhulu kunye noqikelelo lokuqhelaniswa (9-DoF).

Iingcebiso ezisebenzayo zokusetyenziswa ngokukuko kweMPU6050 kunye neLSM9DS1

• Hlala ulungelelanisa abenzi boluvo phambi kokusetyenziswa kwizicelo ezibalulekileyo zokuphucula ukuchaneka.
• Kuphephe ukunyusela iimodyuli kufutshane nemithombo yophazamiseko lombane, njengeenjini okanye imagnethi.
• Sebenzisa ubuchule bokuhluza kwaye ugcine ulawulo oluchanekileyo lwamaxesha okuthatha iisampulu.
• Ukulungelelaniswa ngokupheleleyo ngokubhekiselele kumntla, kucetyiswa ukuba kusetyenziswe a I-LSM9DS1 okanye udibanise i-MPU6050 kunye ne-magnetometer yangaphandle, njenge-HMC5883L.
• Ukuphumeza imiboniso yexesha langempela kunceda ukutolika ngcono idatha eqokelelweyo.
• Iivenkile zeencwadi ezifana i2cdevlib Benza umsebenzi ube lula kakhulu, ke ngoko babeke phambili ukwenza uphuhliso lube lula.