自平衡的莱洛三角形

3个月前

简介:基于Simple FOC电机算法,LQR控制器,Kalman滤波的自平衡机器

开源协议: GPL 3.0

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描述

简单的介绍视频:(记得三连哦!!)

https://www.bilibili.com/video/BV19v411n7mN

需要学习的话代码就在下方

文档

PCB_2021-03-29_16-33-58

在编辑器中打开

BOM

ID Name Designator Footprint Quantity
1 A6H-4102 1100/0011 SW-SMD_A6H-410X 1
2 PAD +,+5V,-,A-,B-,C-,F1,F2,GND,RX,TX PAD-1.4X1.4-ALPS-H1.6 11
3 35V 100uF C1,C19,C20 CAP-SMD_BD6.3-L6.6-W6.6-FD 3
4 16V 220uF C2 CAP-SMD_BD6.3-L6.6-W6.6-FD 1
5 100nf C3 C0603 1
6 4.7uF C4 C0402 1
7 0.1uF/2v/104 C5 C0402 1
8 0.1uF/4v/104 C6 C0402 1
9 2.2nF/50V C7 C0603 1
10 10nF/4v C8 C0603 1
11 10uF C11,C14,C35,C36 C0402 4
12 0.1uF C12,C15,C16 C0402 3
13 10uF C25,C26,C33 C0402 3
14 100nF C27,C29,C34 C0402 3
15 100nF C28 C0402 1
16 100nF C30 C0603 1
17 4.7uF 10v C37 C0603 1
18 1uF 16v C38 C0603 1
19 100nF 25v C39 C0603 1
20 TestPoint CK,M_EN,PWM_A,PWM_B,PWM_C,R,RS1,SI,SO,SWC,SWD TEST_TOP 11
21 SMAJ5.0A D1 SMA_L4.3-W2.6-LS5.2-RD 1
22 SS34LH D2 SMA_L4.4-W2.8-LS5.4-RD 1
23 SS34_C142458 D3 SMA_L4.4-W2.8-LS5.4-RD 1
24 SMD_JUMP_PAD3 EXT_PIN0,EXT_PIN1,PHASE_A,PHASE_B,PHASE_C,SCL,SDA,VIN SMD_JUMP_PAD3 8
25 HDR-M-2.54_1x4 J4 HDR-M-2.54_1X4 1
26 LED-0603_R LED0,LED1,LED2,MCU0,MCU1 LED0603_RED 5
27 MSS22D18G2 MCU_SELECT,SW1 MSS22D18G2 2
28 LED-0603_G POWER LED0603_GREEN 1
29 8/16/20MHz Q2 RESONATOR-SMD 1
30 2k R1,R4 R0603 2
31 1k R2,R9,R10,R11 R0603 4
32 4.7k R3,R6,R7,R8,R12,R13,R14 R0603 7
33 3.9k R5 R0603 1
34 180 R15 R0603 1
35 1K RN1 RES-ARRAY-SMD_0603-8P-L3.2-W1.6-BL 1
36 TSA363G25-250B RST1,RST2 SW-SMD_L6.5-W3.6-LS8.0 2
37 TL431 U1 SOT-23-3_L2.9-W1.6-P1.90-LS2.8-BR 1
38 MPU6050 U2 QFN-24_4X4X05P 1
39 ATMEGA328P-AU U3 TQFP-32_L7.0-W7.0-P0.80-LS9.0-BL 1
40 AP2112K-3.3TRG1 U4 SOT-25-5_L3.0-W1.8-P0.95-LS3.0-BR 1
41 AMS1117-5.0S U5 SOT-89_L4.5-W2.5-P1.50-LS4.2-BR 1
42 as5600模块 U6 AS5600模块 1
43 MP6540GU U7 QFN-26-5X5MM_MP6540 1
44 78M09 U9 TO-252-2_L6.5-W6.1-P4.58-LS10.0-TL 1
45 LGT8F328P-QFP32L U10 LQFP-32_L7.0-W7.0-P0.80-LS9.0-TL 1
46 CH340K U11 SSOP-10_L4.9-W3.9-P1.00-LS6.0-BL 1
47 MICRO5.9MMUSB USB2 MICRO-USB-SMD_5P-P0.65-H-F_MICRO5.9MMUSB 1

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