伺服小车的控制系统设计.docVIP

伺服小车的控制系统设计 摘要：移动机器人是机器人学中的一个重要分支，且其应用越来越广泛。本设计采用的是AT89S51单片机来控制一个伺服小车，该小车主要由两个独立驱动的主动轮、一个从动轮和底盘等机构组成，车体采用ABS板粘接而成，小车的运动主要由主动轮上的相同电机驱动，电机驱动芯片L298N直接控制两个直流电机旋转，小车的转弯主要通过两个电机的运动速度不同来实现。该伺服小车的转动角度为360，伺服小车可以前、后、左、右行进，由操作手柄上的四个方向控制按钮—K1、K2、K3、K4进行控制，在车上有相应的动作(前、后、左、右)。制作由直流驱动电机和单片机构成的驱动系统电路并根据控制要求编写控制系统的控制程序，实现小车的动作要求。此系统以简易的电路连接配合驱动程序，可以精确的控制伺服小车的动作。而其系统本身便是一套简易模型车体或是简易模型机器人的底层动作平台。了解其工作原理后还可以有其他的应用，凡是需要以单片机控制，而且想要移动的机构都可能有机会使用到它作为一个基础平台。对于非机械专业的同学，只要懂得单片机设计，也可以很有效率的设计一些精密的传动系统。本课题可以学习以直流电机为动力的移动平台设计原理及相关程序设计。 关键词：伺服小车??单片机??直流电动机??控制系统 The?Design?of?Servo?Vehicles?Control?System Abstract:?Mobile?robot,?which?has?more?and?more?application?in?today’s?society,?is?one?of?the?most?important?branches?in?the?study?of?robot?investigation.?My?design?is?to?control?a?servo?vehicle?by?using?AT89S51?SCM.?This?vehicle?is?composed?of?2?independently-driven?drivers,?1?driven?wheel?and?a?batholith?felted?with?ABS?board,?etc,?and?is?driven?by?the?2?same?electromotors?on?the?driver.?The?electromotor?control?CMOS?chip?L298N?directly?controls?the?circumgyration?of?the?2?direct?electromotors.?The?swerve?of?the?vehicle?is?mainly?controlled?by?the?different?speeds?of?the?2?electromotors.?The?turning?angle?of?the?vehicle?is?360,?and?its?moving?forward,?backward,?left?and?right?is?controlled?byK1,?K2,?K3,?K4,?4?direction?control?buttons?on?the?operation?handle,?with?their?respective?action?demand.?The?realization?of?movement?of?this?vehicle?is?by?making?driven-system?circuit?composed?of?direct?circuit?driven?electromotor?and?SCM,?as?well?as?compiling?control?program?of?the?control?system?according?to?the?controlling?requirements.?This?system?is?able?to?control?the?precise?movement?of?this?servo?vehicle?according?to?the?simple?electric?circuit?connection?coordination?driver.?But?its?system?itself?then?is?a?set?of?simple?model?chassis?perhaps?the?simple?model?robot?first?floor?movement?platform.?After?understanding?its?principle?of?work?also?may?have?other?applications,?we?know?it’s?possible?to?