CN103472843A - Full-digital servo controller based on ARM9 two-wheeled microcomputer mouse - Google Patents
Full-digital servo controller based on ARM9 two-wheeled microcomputer mouse Download PDFInfo
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- CN103472843A CN103472843A CN2013104203161A CN201310420316A CN103472843A CN 103472843 A CN103472843 A CN 103472843A CN 2013104203161 A CN2013104203161 A CN 2013104203161A CN 201310420316 A CN201310420316 A CN 201310420316A CN 103472843 A CN103472843 A CN 103472843A
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Abstract
The invention discloses a full-digital servo controller based on an ARM9 two-wheeled microcomputer mouse. The full-digital servo controller comprises a sensor, a battery, an ARM9 chip, an L298N chip, two motors, two wheels and wires, wherein the sensor is located on the upper portion of the two-wheeled microcomputer mouse, the battery is connected with the ARM9 chip, the L298N chip and the two motors through the wires, the ARM9 chip and the L298N chip are welded together through one wire, the L298N chip is connected with the motors, and the motors are connected with the wheels and correspond to the wheels one to one. Through the mode, according to the full-digital servo controller based on the ARM9 two-wheeled microcomputer mouse, the multi-shaft drive integrated special L298N chip is introduced in the controller based on the ARM9 chip, with the ARM9 chip serving as a processing core, digital signals are processed in real time, the control logic that the L298N chip controls the two motors and the response to interrupt are achieved, and data communication and real-time signal storage are achieved.
Description
Technical field
The present invention relates to the microrobot field, particularly relate to a kind of based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device.
Background technology
The micro computer mouse is being commonly called as of a kind of intelligent walking device that uses embedded microcontroller, sensor and electromechanical movement parts to form, it can be in labyrinth automatic Memory and selecting paths, find outlet, the final destination set that arrives.Generally, in the match of labyrinth, the micro computer mouse is placed on to starting point, after pressing start key, the micro computer mouse is decided in its sole discretion and searches rule and realize advancing, turn, remembering the functions such as labyrinth wall data, calculating shortest path, search terminal in labyrinth.The micro computer mouse carries out the labyrinth contest and combines many-sided science and technology such as machinery, motor, electronics, control, optics, program design and artificial intelligence.
As shown in Figure 1, long-play finds that the safety problem existed has to the micro computer mouse structure of current domestic research and development:
(1) stepper motor that the topworks of micro computer mouse adopts, often can run into the problem of pulse-losing, causes mistake is appearred in the memory of position, and stepper motor makes organism fever more serious, is unfavorable in large complicated labyrinth, exploring and spurt.
(2) what adopt due to micro computer mouse servo-drive system is all more rudimentary algorithm, and the exploration in the middle of labyrinth generally all will spend the time of 4～5 minutes, and this makes the micro computer mouse can't win victory in real contest.
(3) because the micro computer mouse will be braked frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't meet the requirement that the micro computer mouse starts fast and stops.
(4) what general micro computer mouse adopted is all the plug-in components that some volume ratios are larger, makes its volume and weight relatively all larger, can't meet the requirement of quick exploration.
(5) owing to disturbed by the surrounding environment labile factor, singlechip controller often there will be extremely, causes that the micro computer mouse is out of control, and antijamming capability is poor.
(6) for the micro computer mouse of differential control, it is synchronous that the pwm control signal of two motor of General Requirements is wanted, due to the restriction that is subject to computing power, single single-chip microcomputer servo-drive system is difficult to meet this condition, while making the micro computer mouse travel on straight way, can accurately not walk on center line, in order to guarantee the accurate location of micro computer mouse, the compensation that servo-drive system will be back and forth, make micro computer mouse rocking tendency in the middle of labyrinth larger, when walking fast, performance is especially obvious.
(7) owing to being subject to single-chip microcomputer capacity and algorithm affects, the information not storage of micro computer mouse to labyrinth, information all when running into power-down conditions will disappear, and this makes whole heuristic process to restart.
(8) the micro computer mouse, in operational process, runs into while hitting the wall situation and all the motor rotation blockage phenomenon can occur, and causes the motor immediate current excessive, when serious, can burn out motor.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, and this micro computer mouse full Digitized Servo Control device processing speed is fast, moves smooth and easy.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, comprise sensor, battery, the ARM9 chip, the L298N chip, two motors, two wheels and electric wire, described sensor is positioned at the top of described two-wheeled micro computer mouse, described battery is by described electric wire and described sensor, described ARM9 chip, the L298N chip is connected with two motors, described ARM9 chip and described L298N chip are together with described wire welding, described L298N chip is connected with described motor, described motor and described wheel be corresponding being connected one by one.
In a preferred embodiment of the present invention, described sensor is ultrasonic sensor or infrared ray sensor.
In a preferred embodiment of the present invention, described infrared ray sensor is OPE5594A.
In a preferred embodiment of the present invention, described L298N chip is 20 pin PowerS020 encapsulation, and 7 pin of described L298N chip, 9 pin, 13 pin and 15 pin are connected with the output pin of described ARM9 chip.
In a preferred embodiment of the present invention, described ARM9 chip produces the PWM ripple, and described PWM ripple is transferred to described two motors by described L298N chip.
The invention has the beneficial effects as follows: of the present invention based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, introduce multiaxis and drive integrated special chip L298N in the controller based on ARM9, take ARM9 as processing core, realize the real-time processing of digital signal, realize that L298N controls the steering logic of two motors, and the response interruption, realize data communication and storage live signal.
The accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, in below describing embodiment, the accompanying drawing of required use is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings, wherein:
Fig. 1 is the schematic diagram of monolithic processor controlled micro computer mouse in background technology of the present invention;
Fig. 2 is the encapsulation figure of L298N chip in the present invention;
Fig. 3 is the schematic diagram based on one preferred embodiment of ARM9 two-wheeled micro computer mouse full Digitized Servo Control device in the present invention;
Fig. 4 is the structural representation of the mouse of micro computer described in the present invention one preferred embodiment;
Fig. 5 is the system chart based on one preferred embodiment of ARM9 two-wheeled micro computer mouse full Digitized Servo Control device in the present invention;
In accompanying drawing, the mark of each parts is as follows: 1, shell, 2, wheel, 3, infrared ray sensor, 4, voltage sensor.
Embodiment
Below will the technical scheme in the embodiment of the present invention be clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under the creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 2-5, the invention provides a kind ofly based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, comprise infrared ray sensor, battery, ARM9 chip, L298N chip, two motors, two wheels and electric wire.Described sensor is positioned at the top of described two-wheeled micro computer mouse, described battery is connected with described sensor, described ARM9 chip, L298N chip and two motors by described electric wire, described ARM9 chip and described L298N chip are together with described wire welding, described L298N chip is connected with described motor, and described motor and described wheel be corresponding being connected one by one.
The ARM9 chip adopts RISC(Reduce Instruction Computer, Reduced Instruction Set Computer) structure, the characteristics such as have that register is many, addressing mode simple, bulk transfer data, use address automatically increase or decrease.The ARM9 processor of a new generation, by brand-new design, adopted more transistor, can reach twice above in the processing power of ARM7 processor.The raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.
S3C2440A adopts the ARM920T kernel, and its principal feature has: (1) 1.2V kernel, 1.8V/2.5V/3.3V reservoir, 3.3V expansion I/O, 16KB Instruction Cache (I-Cache)/16KB Data Cache (D-Cache); (2) 3 road URAT; (3) 4 road PWM timers/1 road timer internal/WatchDog Timer; (4) 8 10, tunnel ADC and touch screen interfaces; (5) 130 general purpose I/O, 24 exterior interrupt; (6) 32 bit fixed point risc processors, modified ARM/Thumb code interweaves, and the enhancement Multiplier Design is supported (real-time) debugging in real time; (7) chip instruction and data SRAM, and the memory span of instruction and data is adjustable; (8) chip instruction and data high-speed impact damper (cache) capacity are from the 4K byte to the 1M byte; (9) protected location (protection unit) is set, is applicable to very much, in Embedded Application, storer is carried out to segmentation and protection; (10) adopt AMBA ahb bus interface, for peripheral hardware provides unified address and data bus; (11) support external coprocessor, the instruction and data bus has the signaling support of simply shaking hands; (12) support standard basic logic unit scan testing methods to learn, and support BIST(built-in-self-test); (13) support the Embedded Trace macroelement, support the real-time follow-up instruction and data.
The L298N chip is the product of SGS company, and what the present invention used is 20 pin PowerSO20 encapsulation, and its concrete pin distributes as Fig. 2.Inside comprises 4 channel logic driving circuits, can drive easily two direct current generators, and output voltage reaches as high as 50V, can directly by power supply, carry out regulation output voltage.The 6 pin VS of L298N connect supply voltage, and the VS voltage range is+2.5～46 V, and output current can reach 2.5 A, can drive inductive load.The emitter of 2 pin and 19 underfooting pipes is drawn separately respectively in order to access current sampling resistor, forms current sensing signal.8 pin of L298N and 14 pin EnA, EnB enable control end, control respectively the stall of motor X and motor Y.7,9,13,15 pin of L298N meet ARM9(S3C2440A) output pin, by ARM9(S3C2440A) control the level of OUT1, OUT2 and OUT3, OUT4, control the rotating of motor X and motor Y.
The described concrete function performing step based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device is:
1) in order to drive diaxon micro computer mouse to be moved, introduce a slice L298N in this control system, be connected with ARM9 by the I/O mouth, by ARM9, by Enable Pin, controlled turning on and off of two individual motor.
2) opening power moment, ARM9 can be detected cell voltage, if low pressure, to forbid that L298N enables, OUT1, OUT2, OUT3 and OUT4 are low level, and motor X and motor Y can not start, voltage sensor S7 will work simultaneously, and the prompting alerting signal.
3) ARM9 is that S3C2440A has the timer of 5 16, and timer 0,1,2,3 has the width modulation function, and timer 0 and timer 1 generate two-way PWM ripple.
4) in the micro computer motion process, sensor S1, S2, S3, S4, S5, six infrared lights that independently infrared transmitting tube OPE5594A sends of S6(are converted into the information in labyrinth on every side after receiver TSL262 accepts) judge environment on every side and give ARM9, ARM9 is converted into the distance that micro computer mouse left and right wheels will be moved to these environmental parameters, speed and acceleration command value, then generate actual Velocity-time motion ladder diagram by ARM9 in conjunction with the feedback of photoelectric encoder, this trapezoidal area comprised is exactly the distance that two motor X of micro computer mouse and motor Y will move.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, in ARM9, the PWM frequency is determined by TCNTBn, and the pwm pulse width determines by TCMPBn, and dutycycle is TCMPBn/TCNTBn.Then ARM9 enables L298N, by L298N, drives two individual motor runnings, and the deal with data communication to ARM9, continue to process follow-up running status by ARM9.
5) if the micro computer mouse is found that labyrinth solves and occurs that endless loop will be to ARM9(S3C2440A in motion process) send interrupt request, ARM9(S3C2440A) can be to interrupting doing very first time response, if interrupt response ARM9(S3C2440A) does not have enough time to process, the X motor of micro computer mouse and Y motor are by the original place self-locking.
6) photoelectric encoder be contained on motor X and motor Y can be exported its position signalling A and position signalling B, once, the location register in ARM9(S3C2440A) can add according to the traffic direction of left and right wheels 1 or subtract 1 for the position signalling A pulse of photoelectric encoder and the every variation of B pulse logic state.
When 7) the position signalling A pulse of photoelectric encoder and B pulse are low level simultaneously, just produce an INDEX signal to ARM9(S3C2440A) register, record the absolute position of motor, then be converted into the particular location of micro computer mouse in labyrinth, and store current labyrinth information.
8) controller according to the micro computer mouse particular location in labyrinth, send corresponding acceleration, speed and position data etc. to ARM9(S3C2440A) as the reference value, then ARM9 calculates according to peripheral disturbed condition actual acceleration, speed and the position signalling that the micro computer mouse need to upgrade.
9) ARM9(S3C2440A) according to the substantial periphery transducing signal, determine motor X(or motor Y) the rotating signal, then by controlling IN1 and IN2(or IN3 and IN4) level just realize that the direction of motor controls, and then realize that the direction of micro computer mouse system motor X and motor Y controls.
10) if the micro computer mouse runs into fault in operational process while hitting wall, the electric current of motor X and electric current Y will increase, when surpassing setting value, the current collection circuit of L298N will be worked, ARM9(S3C2440A) will send and forbid enabling interrupting to L298N, this Time Controller can be controlled immediately L298N and quit work, and then discharges motor X and motor Y, thereby has effectively solved the stall problem.
11) the micro computer mouse can detect cell voltage constantly at operational process, and when low pressure appears in system, sensor S7 will open and send alarm, effectively protect lithium ion battery.
The beneficial effect that the present invention has is:
1, taken into full account the effect of battery in this system in motion process, based on the ARM9+L298N controller, constantly all in the running status to the micro computer mouse, monitored and computing, due to the inner integrated current collection circuit of L298N, constantly the electric current of motor gathered, fundamentally avoided the generation of large electric current, solve the impact of large electric current to lithium ion battery, avoided the lithium ion battery overaging phenomenon caused due to heavy-current discharge.
2, processed the independent servocontrol of two direct current generators of micro computer mouse by ARM9, make control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle, and the program transportability ability is strong.
3, the present invention realizes full SMD components material substantially, has realized veneer control, has not only saved control panel and has taken up room, and be conducive to alleviating of volume and weight, is conducive to improve stability and the dynamic property of micro computer mouse.
4,, in order to improve arithmetic speed and precision, this micro computer mouse has adopted uses maximum infrared sensor OPE5594A in the world, makes operational precision greatly improve.
5, due to this controller, adopt ARM9 to process the storage of labyrinth information and read and explore, the algorithm of making a spurt, " race flies " that has effectively prevented program, antijamming capability strengthens greatly.
6, drive the diaxon direct current generator because this controller adopts L298N, greatly reduced the shared space of driving circuit, and improved the efficiency of system.
7, by ARM9 output, explored and whole servo process PWM modulation signal and direction signal during spurt, the Enable Pin by L298N directly drives direct current generator X and motor Y, has not only alleviated the burden of ARM9, has simplified interface circuit, makes the debugging of system simple.
8, the micro computer mouse explore and the spurt operational process in, controller can carry out on-line identification and utilize motor torque with the relation of electric current compensates the torque of motor, reduced motor torque and shaken walk the fast impact of dynamic property of micro computer mouse.
9, in control, ARM9 can adjust the pid parameter of controller inside according to labyrinth situation around reality, easily realizes that segmentation P, PD, PID control and nonlinear PID controller, make system have certain self-adaptation.
10, the Enable Pin of L298N can well solve the problem that the micro computer mouse runs into the motor rotation blockage that hits the generation of wall situation in operational process, utilize the interruptive command can be when electric current output exceeds setting value, the current collection circuit of L298N sends immediately forbids enabling request, ARM9 forbids Enable Pin, discharge motor X and motor Y, thereby effectively solved the stall problem.
11, owing to having memory function, this can transfer the labyrinth information of having explored after making the power down of micro computer mouse easily, and time and path that secondary is explored reduce greatly.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or directly or indirectly be used in other relevant technical field, all in like manner be included in scope of patent protection of the present invention.
Claims (5)
1. one kind based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, comprise sensor, battery, the ARM9 chip, the L298N chip, two motors, two wheels and electric wire, described sensor is positioned at the top of described two-wheeled micro computer mouse, described battery is by described electric wire and described sensor, described ARM9 chip, described L298N chip is connected with two motors, described ARM9 chip and described L298N chip are together with described wire welding, described L298N chip is connected with described motor, described motor and described wheel be corresponding being connected one by one.
2. according to claim 1ly based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, described sensor is ultrasonic sensor or infrared ray sensor.
3. according to claim 2ly based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, described infrared ray sensor is OPE5594A.
4. according to claim 1 based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, described L298N chip is 20 pin PowerS020 encapsulation, and 7 pin of described L298N chip, 9 pin, 13 pin and 15 pin are connected with the output pin of described ARM9 chip.
5. according to claim 1ly based on ARM9 two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, described ARM9 chip produces the PWM ripple, and described PWM ripple is transferred to described two motors by described L298N chip.
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Application publication date: 20131225 |