論文-懸掛運(yùn)動(dòng)控制系統(tǒng)


頁(yè)數(shù)：20 字?jǐn)?shù)：8055

懸 掛 運(yùn) 動(dòng) 控 制 系 統(tǒng)
摘 要
本系統(tǒng)根據(jù)設(shè)計(jì)任務(wù)要求，采用步進(jìn)電機(jī)作為執(zhí)行元件，以單片機(jī)AT89S52作為控制器，利用SH-2H042MB作為步進(jìn)電機(jī)驅(qū)動(dòng)電路，實(shí)現(xiàn)對(duì)物體位置和運(yùn)動(dòng)軌跡的控制。將物體運(yùn)動(dòng)坐標(biāo)轉(zhuǎn)換為牽引線(xiàn)繩的運(yùn)動(dòng)距離，進(jìn)而轉(zhuǎn)換成步進(jìn)電機(jī)的步數(shù)，實(shí)現(xiàn)對(duì)物體運(yùn)動(dòng)軌跡的高精度控制。該系統(tǒng)還利用反射式紅外開(kāi)關(guān)實(shí)現(xiàn)對(duì)物體的運(yùn)動(dòng)軌跡的自動(dòng)跟蹤，它利用安裝在運(yùn)動(dòng)物體上一組四個(gè)的紅外傳感器來(lái)檢測(cè)設(shè)定運(yùn)動(dòng)軌跡（黑線(xiàn)）的位置，單片機(jī)將各探頭的信號(hào)進(jìn)行綜合分析處理后，能夠準(zhǔn)確判斷出物體偏離黑線(xiàn)的方向，從而控制物體能夠沿著預(yù)定的軌跡運(yùn)動(dòng)。整個(gè)系統(tǒng)設(shè)計(jì)合理，運(yùn)行穩(wěn)定。
Abstract
A motion control system based on step motors is presented. It adopts two step motors as the action components, a single chip computer, the AT89s52, as the controller, and the SH-2H042MB as the driver. It can control the position and the motion trace of the object. The plane rectangular coordinates of the motive object is converted into the length of the tow, and then changed into steps of the stepper motor to control the trace of the motive object accurately. This system can trace the given track automatically with infrared-reflect switches. A group of three infrared-reflect switches mounted on the motive object are used to detect the truck, the black line. The controller analyses the signals from the switches and estimate the error between the object and the truck to control the object motion along the given truck. The system is designed consummately and operated reliably.

一、題目要求和方案論證
任務(wù)要求
設(shè)計(jì)制作一個(gè)懸掛運(yùn)動(dòng)控制系統(tǒng)，控制物體在傾斜（仰角≤100度）的板上運(yùn)動(dòng)。
1）基本要求：
（1）控制系統(tǒng)能夠通過(guò)鍵盤(pán)或其他方式任意設(shè)定坐標(biāo)點(diǎn)參數(shù)；
（2）控制物體在80cm×100cm的范圍內(nèi)作自行設(shè)定的運(yùn)動(dòng)，運(yùn)動(dòng)軌跡長(zhǎng)度不小于100cm，物體在運(yùn)動(dòng)時(shí)能夠在板上畫(huà)出運(yùn)動(dòng)軌跡，限300秒內(nèi)完成；
（3）控制物體作圓心可任意設(shè)定、直徑為50cm的圓周運(yùn)動(dòng)，限300秒內(nèi)完成；