CN108287572A - A kind of bead rolling Control System Design - Google Patents
A kind of bead rolling Control System Design Download PDFInfo
- Publication number
- CN108287572A CN108287572A CN201710014288.1A CN201710014288A CN108287572A CN 108287572 A CN108287572 A CN 108287572A CN 201710014288 A CN201710014288 A CN 201710014288A CN 108287572 A CN108287572 A CN 108287572A
- Authority
- CN
- China
- Prior art keywords
- control
- present
- system design
- control system
- bead
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention relates to a kind of beads to roll Control System Design, the present invention is using 2 blocks of MSP430 single-chip minimum system plates as control core, one piece as control ultrasonic distance sensor test bead rolling distance, another piece of control stepper motor is to control small direction of the bowl and angular transducer, the present invention uses 12864 liquid crystal displays, accurate to show bead current distance and operating mode.The present invention makes perfect, strong adaptability, fast response time.
Description
Technical field
The invention patent relates to Eletronmechanical Design Technique fields more particularly to a kind of bead to roll Control System Design.
Background technology
Bead rolls control system and realizes required function by ARM control systems.Photoelectric sensor is placed on guide rail
On, while photoelectric sensor is connect with ARM systems, the small ball position that photoelectric sensor can detect simultaneously is fed back to ARM
System, while showing small ball position in liquid crystal display.Then stepper motor positive and negative rotation, acceleration are controlled by ARM systems
The functions such as deceleration.In addition electronic guide pin module can also realize that guide rail deflects the work(of automatic recovery level jointly with ARM systems
Energy.
Patent of invention content
The invention patent relates to a kind of beads to roll Control System Design, and the present invention uses 2 pieces of MSP430 single-chip minimum systems
Plate is as control core, and one piece as control ultrasonic distance sensor test bead rolling distance, another block of control stepping electricity
For machine to control small direction of the bowl and angular transducer, the present invention uses 12864 liquid crystal displays, accurate to show that bead is current
Distance and operating mode.
The present invention makes perfect, strong adaptability, fast response time.
Description of the drawings
Fig. 1：System block diagram.
Fig. 2：Power voltage step down total figure.
Fig. 3：Decompression principle figure.
Fig. 4：Stepping shape/electrical schematic diagram.
Fig. 5：L298N drive module electrical schematic diagrams.
Fig. 6：L298N drive module material object wiring diagrams.
Fig. 7：Microcontroller and driver wiring diagram.
Fig. 8：STK672-040 driving circuit figures.
Fig. 9：Principal function flow chart.
Figure 10：Flow for displaying figure.
Figure 11：Interruption flow chart.
Figure 12：Angle adjusts flow chart.
Specific implementation mode
In order to make the object, technical solution and advantage of patent of the present invention be more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated patent of the present invention.It should be appreciated that specific embodiment described herein is only used to explain
Patent of the present invention, is not intended to limit the present invention patent.
The invention patent relates to a kind of beads to roll Control System Design, and the present invention is minimum using 2 pieces of MSP430 microcontrollers
System board is as control core, and one piece as control ultrasonic distance sensor test bead rolling distance, another piece of control step
To control small direction of the bowl and angular transducer, the present invention uses 12864 liquid crystal displays, accurately shows bead stepper motor
Current distance and operating mode.
Further, the present invention claims fixing a single u-shaped guide rail with shaft on a column of portal trestle, guide rail
The other end can control its up and down motion by the motor being fixed on top beam, make bead smart scroll or fixed as required on guide rail
Position.Guide rail using at shaft as origin, with centimetre（cm）For unit labeling position.
Further, the present invention utilizes the angle of step motor control U-shaped rails, to reach the angle for changing U-shaped rails
Control bead movement with it is static.
Further, the present invention uses the MSP430 of Ti companies as main control chip.MSP430 series monolithics are the U.S.
Texas Instrument starts a kind of mixed-signal processor for 16 super low-power consumptions introduced to the market for 1996.Referred to as at mixed signal
Device is managed, mainly since it is directed to practical application request, many analog circuits, digital circuit and microprocessor are integrated in one
On chip, with offer " monolithic " solution.MSP430 series in system design, exploitation due to flash storage, adjusting
Obvious advantage is all shown in examination and practical application.This is that TI companies release with Flash types memory and jtag boundary
The cheap developing instrument of scanning technique.
Further, the present invention uses domestic power supply.Power supply it is efficient, the range of adaptation is big, bringing onto load ability to bear
By force, 12V/5V DC power supplies can be easily converted to by rectification decompression.
Further, motor power module of the invention selects stepper motor as power.Stepper motor is by electric pulse
Signal is changed into the opened loop control member stepper motor part of angular displacement or displacement of the lines.In the case of non-overload, the rotating speed of motor stops
Position only is solely dependent upon the frequency and umber of pulse of pulse signal, without being influenced by load variation, when step actuator receives
As soon as to a pulse signal, its Driving Stepping Motor rotates a fixed angle by the direction of setting, referred to as " step angle ", it
Rotation run step by step with fixed angle.Angular displacement can be controlled by controlling pulse number, to reach
To the purpose of accurate positionin；The speed and acceleration of motor rotation can be controlled by controlling pulse frequency simultaneously, to reach
To the purpose of speed governing.
Further, the present invention uses ultrasonic sensor ranging.Ultrasonic sensor is ground using the characteristic of ultrasonic wave
Sensor made of system.Ultrasonic wave is the mechanical wave that a kind of vibration frequency is higher than sound wave, by transducing chip under the excitation of voltage
Occur what vibration generated, it has, and frequency is high, wavelength is short, diffraction phenomenon is small, especially good directionality, can become ray depending on
To the features such as propagation.Ultrasonic wave is very big to the penetrating power of liquid, solid, and especially in the opaque solid of sunlight, it can
Penetrate tens meters of depth.Ultrasonic wave encounters impurity or interface will produce significantly to reflect to form and be reflected into echo, encounters activity
Object can generate Doppler effect.
Further, buzzer of the invention is powered using direct current generator, can send out that dull or some fixes frequency
The sound of rate such as ticks, too beep etc..
Further, the flexible interface mode of 12864 modules of the invention and simply and easily operational order, may make up
Full Chinese human-computer interaction graphical interfaces.It can show that the Chinese character of 8 × 4 row, 16 × 16 dot matrix can also complete graphical display.Low electricity
It is its another distinguishing feature to force down power consumption.By the graphic dot matrix liquid crystal display of the liquid crystal display scheme and same type of the module composition
Module is compared, no matter hardware circuit or display program will succinctly much, and the price of the module is also slightly below identical point
The graphic LCD module of battle array.
Further, the present invention carries out the control of external circuit using microcontroller MSP430 modules for key control unit
System.To realize various functions, reach requirement of experiment.Present invention employs simulation control and local feedback controls etc. in the design
Control method controls the rotating speed of stepper motor using mcu programming, to realize the control to motor.The work of stepper motor
It exerts oneself with shaft and angular transducer, angular transducer gives microcontroller one feedback signal, then controls motor by microcontroller
Rotating speed, and realize by display screen the display of angular distance, alarm etc. realized by photoelectric sensor.With ultrasonic wave and
Angular transducer detects the movement of bead, then transmits data to microcontroller, to send data to display and motor.Its is whole
Body block diagram is as shown in Figure 1.
Further, Fig. 2 is power voltage step down total figure, and Fig. 3 is the schematic diagram of power voltage step down, and the present invention is by with tri- poles LM7805
Pipe is depressured, and the 12V voltages after rectification is depressured become the 5V voltages to work for microcontroller.
Further, step angle refers to the space angle that each row's rotor turns over.The sky of stepping angle and stepper motor
Between the number of phases, step mode and the motor rotor number of teeth relationship it is as follows：A=360 °/KmZ formula（1）, formula（1）Middle a is stepping
The step angle of motor；M is the number of phases of motor；Z is the rotor number of teeth；K is coefficient, and the adjacent number of phases of energization twice is identical（It is single to clap
Or doublebeat working method）K=1；The adjacent summer sleeping mat energization number of phases is different（Single doublebeat mixing）, K=2.The stepper motor of the same number of phases can
There are two types of step angle, usually 1.2 0.6,1.5 0.75,1.8 0.9,3 1.5 degree etc..Step pitch error refers to stepper motor fortune
When row, the difference of the practical angle turned over of each step of rotor and theoretical step angle.When continuously walking several steps, above-mentioned step pitch error
Aggregate-value is known as the accumulated error of step pitch.The step pitch accumulated error of stepper motor will switch to the period with one and repeat.
Further, stepper motor is a kind of executing agency converting electric pulse to angular displacement.When step actuator connects
As soon as receive a pulse signal, its Driving Stepping Motor by setting direction rotate a fixed angle, its rotation be with
What fixed angle was run step by step.Angular displacement can be controlled by controlling pulse number, be accurately positioned to reach
Purpose；The speed and acceleration of motor rotation can be controlled by controlling pulse frequency simultaneously, to reach the mesh of speed governing
's.It, can be just using Double power driving mode and 1-2 phases excitation (two phase eight beats operation) for STK672-040 stepper motors
It reversely rotates；It is powered by A-AB-B-BC-C-CD-D-DA-A sequences, rated current (single-phase)：0.6A/ DC, rated voltage:
7.2V/DC.Shape/electrical principle is as shown in Figure 4.
Further, STK672-040 low currents（0.6A）Stepper motor driving is driven using L298N drive modules.
L298N drive modules, the present invention use the L298N chips of ST companies, can directly drive two-way 3-30V direct current generators, and carry
5V output interfaces have been supplied, 5V single chip circuit system power supplies can be given, have supported 3.3VMCU controls, it may be convenient to control direct current
Motor speed and direction can also control 2 phase step motors.L298N drive modules electrical principle is as shown in figure 5, wiring in kind
As shown in Figure 6.
Further, ZD-6560-V4/3 high-performance step actuators, the drive is respectively adopted in STK672-040 stepper motors
Dynamic device mainly has synchronizing, two subdivisions, eight subdivisions, 16 to segment adjustable, current adjustment, overheats automatic protection, automatic semi-fluid electric current
Decay adjustable, supports the functions such as off line, enabled, locking.It is simple with the mode of connection of microcontroller, as shown in fig. 7, driving circuit
Design is as shown in Figure 8.
Further, the present invention first establishes a main flow, then removes control bead according to the thinking of this flow
Movement, go that realizes to be returned to and re-execute if not according to program, it is known that execute instruction position.As shown in Figure 9.It is building
Found the flow chart of a subbranch, realization function step by step.As shown in Figure 10.When multiple interrupt sources apply interrupting simultaneously
When, in order to enable CPU cross first handled according to the regulation of user it is most urgent, then handle other events.According to angle sensor
The value that device detection is sent back is to determine whether will be from new scanning keyboard.As shown in figure 11, it is sent back according to angular transducer detection
Value to determine whether will be from new scanning keyboard.As shown in figure 12.
Further, PID computational methods are as follows：
double PIDCalc( PID *pp, double NextPoint )
{
double dError,
Error;
Error = pp->SetPoint - NextPoint;// deviation
pp->SumError += Error;// integral
dError = pp->LastError - pp->PrevError;// current differential
pp->PrevError = pp->LastError;
pp->LastError = Error;
return (pp->Proportion * Error // proportional
+ pp->Integral * pp->SumError // integral term
+ pp->Derivative * dError // differential term
);
}。
The foregoing is merely the preferred embodiments of patent of the present invention, are not intended to limit the invention patent, all at this
All any modification, equivalent and improvement etc., should be included in patent of the present invention made by within the spirit and principle of patent of invention
Protection domain within.
Claims (9)
1. the invention patent relates to a kind of beads to roll Control System Design, the present invention uses 2 pieces of MSP430 microcontroller minimums systems
Plate unite as control core, one piece as control ultrasonic distance sensor test bead rolling distance, another piece of control stepping
Motor is to control small direction of the bowl and angular transducer.
2. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention uses 12864
Liquid crystal display, it is accurate to show bead current distance and operating mode.
3. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention utilizes stepping electricity
Machine control U-shaped rails angle, with reach change U-shaped rails angle control bead movement with it is static.
4. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention uses Ti companies
MSP430 as main control chip.
5. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention uses household electric
Source.
6. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that motor power of the invention
Module selects stepper motor as power.
7. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention uses ultrasonic wave
Sensor instrument distance.
8. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that buzzer of the invention is adopted
It is powered with direct current generator.
9. a kind of bead according to claim 1 rolls Control System Design, which is characterized in that the present invention uses microcontroller
MSP430 modules carry out the control of external circuit for key control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710014288.1A CN108287572A (en) | 2017-01-10 | 2017-01-10 | A kind of bead rolling Control System Design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710014288.1A CN108287572A (en) | 2017-01-10 | 2017-01-10 | A kind of bead rolling Control System Design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108287572A true CN108287572A (en) | 2018-07-17 |
Family
ID=62819360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710014288.1A Pending CN108287572A (en) | 2017-01-10 | 2017-01-10 | A kind of bead rolling Control System Design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108287572A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407512A (en) * | 2013-08-18 | 2013-11-27 | 北京工业大学 | Polymorphic spherical hopping robot |
| CN106005080A (en) * | 2016-06-02 | 2016-10-12 | 东北农业大学 | Crop bottom-layer stalk routing inspection spherical robot with jumping obstacle avoiding function |
-
2017
- 2017-01-10 CN CN201710014288.1A patent/CN108287572A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407512A (en) * | 2013-08-18 | 2013-11-27 | 北京工业大学 | Polymorphic spherical hopping robot |
| CN106005080A (en) * | 2016-06-02 | 2016-10-12 | 东北农业大学 | Crop bottom-layer stalk routing inspection spherical robot with jumping obstacle avoiding function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202334412U (en) | Brushless DC motor control system | |
| CN102291065A (en) | Brushless direct current motor control device based on DSP (Digital Signal Processor) | |
| CN101388637B (en) | Dual feed-back wind power generator robust controlling method having feed-forward compensation | |
| CN108683365B (en) | Multi-direct current motor reverse series control system and method | |
| CN106802589A (en) | A kind of wind-power electricity generation test platform and its test method based on real-time code generation | |
| CN105551351A (en) | Digitlization power electronics and electric driving real-time control experiment device and experiment method thereof | |
| CN108287572A (en) | A kind of bead rolling Control System Design | |
| CN201830172U (en) | Solar automatic tracking power generation device | |
| CN112039384A (en) | High-efficiency servo drive control system | |
| CN101308166A (en) | Signal generation circuit for testing hall device electrical behavior | |
| CN206386224U (en) | The pitch-controlled system of wind power generating set | |
| CN202102006U (en) | Device for measuring rotating speed of air conditioner fan | |
| CN205750445U (en) | A kind of controller for low-voltage electrical apparatus detection equipment | |
| CN104749639A (en) | Metal object detection positioner | |
| Ruifeng et al. | Stepper Motor Control Based on AT89S51 Microcontroller | |
| CN102778838A (en) | Large clock | |
| CN202451359U (en) | Closed-loop control device for simulating waves | |
| CN204335415U (en) | Digital controlled rotary magnetic field instrument | |
| CN106998129A (en) | A kind of frequency conversion voltage adjusting power control system based on FPGA | |
| CN206251008U (en) | A kind of control system of hybrid control stepper motor | |
| CN108683372A (en) | A kind of stepper motor driving control system | |
| CN207218578U (en) | A kind of load motor drive circuit board | |
| CN206862602U (en) | Water pool model tests anchoring system pretension high-speed adjustment device | |
| CN102315641B (en) | Energy-saving and energy-recycling control system of fitness equipment | |
| CN205070877U (en) | Electromagnetic speed regulation motor control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180717 |
|
| WD01 | Invention patent application deemed withdrawn after publication |