CN105892470A - Single-core three-shaft and four-wheel variable-structure picomouse fully-digital servo system controller - Google Patents
Single-core three-shaft and four-wheel variable-structure picomouse fully-digital servo system controller Download PDFInfo
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- CN105892470A CN105892470A CN201610506941.1A CN201610506941A CN105892470A CN 105892470 A CN105892470 A CN 105892470A CN 201610506941 A CN201610506941 A CN 201610506941A CN 105892470 A CN105892470 A CN 105892470A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a single-core three-shaft and four-wheel variable-structure picomouse fully-digital servo system controller. The single-core three-shaft and four-wheel variable-structure picomouse fully-digital servo system controller comprises a picomouse shell body, wheels, a first infrared sensor, a second infrared sensor, a third infrared sensor, a fourth infrared sensor, a fifth infrared sensor, a sixth infrared sensor, a first high-speed direct-current servo motor, a second high-speed direct-current servo motor, a vacuum adsorption motor, a first magneto-electric encoder, a second magneto-electric encoder, a motion sensor and an acquisition sensor. With the adoption of the manner, the stability of a single-core picomouse fully-digital servo system is improved, and a picomouse is prevented from slipping on a ground in a high-speed labyrinth exploring process; a phenomenon that the picomouse is deviated away from a central position is avoided, and the stability of rapidly solving is improved.
Description
Technical field
The present invention relates to a kind of monokaryon three axle four-wheel structure changes slight Mus (PICOMOUSE) digital self-servocontrol system
System, belongs to minisize maze robot field.
Background technology
Along with microelectric technique, the continuous progress of Computer Control Technology, external expert solves labyrinth micro computer Mus
Propose one on technical foundation and have more challenging maze robot---slightly Mus, its conventional two-dimensional structure such as Fig. 1 institute
Show.Solve the difficulty in labyrinth for enhancing labyrinth complexity and mouse, labyrinth retaining wall is become 90mm by original 180mm,
Original labyrinth is become 32*32 lattice by 16*16 lattice, and new labyrinth two-dimensional structure is as shown in Figure 2.Power supply is once opened, slightly
Mus whole process fully relies on self-contained sensor self-navigation, and solves the various complicated fan being made up of 1024 maze lattices
Palace, it is possible to quickly find an optimal path arriving target setting point from starting point, then with the fastest speed along optimal road
Make a spurt terminal in footpath.
Mus slightly, as a kind of novel maze robot technology, has many countries and regions launching this most in the world
The competition of the technology of kind, and there are the different rules of contest, the walking in whole labyrinth of the slight Mus is divided into two parts: explores and rushes
Thorn, the corresponding time spent is exploration time TS and spurt time TD and owing to adding of occurring in violation of rules and regulations penalizes time TP, slightly
Final performance TIME of Mus is determined by TS, TD and TP, and the most representational is Japan, the U.S., Britain and Singapore.
Day this rule is as follows: TIME=TD；
American rule is as follows: TIME=TS/30+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time.
Britain's rule is as follows: TIME=TS/30+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time.
Singapore's rule is as follows: TIME=TS/60+TD+TP, and wherein TP is adding of breaking down of slight Mus to penalize the time.
From international rule above it can be seen that slight Mus solves labyrinth and occupies the heaviest the whole motion of slight Mus
The position wanted, once Mus solves labyrinth failure slightly, and the whole function of slight Mus the most just cannot realize.
Mus slightly to judge the environment of surrounding in labyrinth the moment in walking process, then communicates a parameter to controller, by
Controller repetitive control its accurate acceleration and retarded motion in the grid of labyrinth.One outstanding slight Mus successfully solves labyrinth
Must possess good perception, have good locomotor activity, outstanding intelligent algorithm, otherwise will be unable to task.As
Fruit uses existing simple algorithm and structure to realize slight Mus and solves labyrinth, finds in practice:
(1) owing to solving the substantial increase of labyrinth number, and detection set-point, labyrinth is being not center, original labyrinth, but fan
Any one lattice in palace so that original simple Mus slightly solves maze technique and cannot solve existing complex maze；
(2) being greatly decreased due to slight Mus size, if Mus uses six groups of sensor technologies in Fig. 1 to explore complexity fan slightly
Palace, has in the international rule of time requirement exploring at some, often occurs that exploration time longer phenomenon occurs, finally leads
Cause slight Mus to compete unsuccessfully；
(3) some simple Mus model machine servosystem slightly use the chip than lower level and algorithm so that Mus slightly is worked as in labyrinth
In walking typically will spend the longer time, not only consume the energy of a large amount of battery, and in real contest also
Cannot win victory；
(4) due to the minimizing of labyrinth retaining wall size so that Mus list table rows slightly walks the distance minimizing run, and slight Mus is solving fan
Frequently braking during palace and startup have increased the weight of the workload of single-chip microcomputer, and single single-chip microcomputer cannot meet slight Mus and quickly open
Requirement that is dynamic and that stop；
(5) for the slight Mus of two-wheel drive, general two the motor PWM control signals requiring to drive its motion to synchronize,
Limited single single-chip microcomputer servosystem by computing capability and be difficult to meet this condition, can not be accurate when slight Mus travels on straight way
True walking, on center line, is easy to bump against labyrinth retaining wall when walking at a high speed, causes mission failure；
(6) owing to being affected by single-chip microcomputer capacity and algorithm, slight Mus cannot store labyrinth information, all when running into power-down conditions
Information will disappear, this makes whole heuristic process restart；
(7) Mus slightly is when walking in labyrinth, it is easy to by external interference, cause slight Mus to collide owing to compensating the most in time
Labyrinth retaining wall, finally cannot complete task；
(8) move after two-wheeled slight Mus system is when accelerating walking due to center of gravity so that mouse front portion is light, even if on good road
On face, slight Mus also can be skidded, it is possible to causes the phenomenon hitting wall to occur, is unfavorable for the development of Mus the most slightly；
(9) if two-wheeled slight Mus system designs improper inclined before causing center of gravity, the normal pressure born on driving wheel will be caused to reduce,
At this moment Mus system is more prone to skid slightly, is also easier to wander off, causes navigating unsuccessfully；
(10) if two-wheeled slight Mus system design improper cause center of gravity lateral deviation by cause two driving wheels to bear normal pressure not
With, when quickly starting, two-wheeled skid level is inconsistent, and moment deflects away from track, and during turning, the wheel that wherein normal pressure is little can
Can skid, cause cornering difficulties；
(11) speed of mouse and the feedback of position are realized due to traditional slight Mus many employings photoelectric encoder, owing to photoelectricity is compiled
The volume of code device is bigger so that the volume of Mus slightly is relatively large, it is impossible to realize the miniaturization of slight Mus servosystem；
(12) relatively big due to the dust of competition area, particularly labyrinth is after repeatedly match, the dust of absorption on floor, labyrinth
Bigger so that the slight Mus of fast running is easy to skid, and causes labyrinth information errors, final Mus slightly cannot complete to explore and
The task of spurt；
(13) the integrated drive chips volume used due to tradition slight Mus servosystem is relatively big, and the volume of slight Mus cannot be miniature
Change and weight is relatively big, sufficiently large acceleration cannot be obtained under equal-wattage DC servo motor drives, the acceleration of system
Can be more weak.
Mus solves labyrinth slightly is international emerging a special kind of skill, owing to the difficulty of slight Mus technology is higher and labyrinth
The complexity of design, causes the domestic unit the most not researching and developing this robot.Accordingly, it would be desirable to by existing Dynamic matrix control skill
Art and Dynamic matrix control chip a kind of multiaxis of design are taken turns anti-skidding slight Mus more and are solved the Full-digital servo controller in labyrinth.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of monokaryon three axle four-wheel structure changes slight Mus full-digital servo
System controller, solves the requirement of complex maze for overcoming single-chip microcomputer can not meet slight Mus, is adopted with reference to domestic micro computer Mus
Unit mode of operation, absorbing on the premise of external Dynamic matrix control thought, independent research is based on STM32F405 total
Word three axle four-wheel slight Mus servo controller, panel is with STM32F405 for processing core, it is achieved slightly Mus explores labyrinth and micro-
The real-time process of digital signal when micro-Mus is made a spurt in labyrinth, and realize two axles are driven the reality of control chip A3906SESTR-T
Time input and output control, quickly respond interruption, it is achieved data communication and storage live signal.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of monokaryon three axle four-wheel
Structure changes slight Mus Full-digital servo system controller, including slight Mus housing, wheel, the first infrared sensor, second infrared
Sensor, the 3rd infrared sensor, the 4th infrared sensor, the 5th infrared sensor, the 6th infrared sensor, the first high speed are straight
Flow servo motor, the second High-speed DC servomotor, vac sorb motor, the first magnetism encoder, the second magnetism encoder, fortune
Dynamic sensor and collection sensor, four described wheels are arranged on the limit, the left and right sides of slight Mus housing, institute the most two-by-two
The first infrared sensor and the 6th infrared sensor stated are separately positioned on the limit, the left and right sides of slight Mus housing and are positioned at wheel
Front end, the second described infrared sensor and the 5th infrared sensor are arranged on the front end of slight Mus housing, described the 3rd
Infrared sensor is angularly disposed between the first infrared sensor and the second infrared sensor, and the 4th described infrared sensor is oblique
To being arranged between the 5th infrared sensor and the 6th infrared sensor, the first described High-speed DC servomotor and the second height
Speed DC servo motor is separately mounted to the right and left of slight Mus housing the position between two wheels, and described is true
The attached motor of suction is arranged on the centre position above the first High-speed DC servomotor and the second High-speed DC servomotor, described
The first magnetism encoder and the second magnetism encoder be separately positioned on the first High-speed DC servomotor and the second High-speed DC
The lower section of servomotor, described motion sensor and collection sensor are successively set on the lower section of vac sorb motor.
In a preferred embodiment of the present invention, when the 3rd described sensor and the 4th sensor are angularly disposed and Y-axis
Between corner dimension be:。
In a preferred embodiment of the present invention, the first described magnetism encoder and the second magnetism encoder all use base
Encoder in magnetoelectric transducer AS5040H.
In a preferred embodiment of the present invention, described wheel is provided with vacuum cup.
In a preferred embodiment of the present invention, described monokaryon three axle four-wheel structure changes slight Mus MPU Controlled All Digital Servo System
Controller also includes supply unit and panel, described supply unit panel electric current driving described in, institute are provided separately
The panel stated sends the first control signal, the second control signal and the 3rd control signal respectively, by the first described control letter
Number, the second control signal and the 3rd control signal control described the second High-speed DC servomotor, the first High-speed DC respectively
The motion of slight Mus is controlled again after the signal syntheses of servomotor and vac sorb motor.
In a preferred embodiment of the present invention, described supply unit uses lithium ion battery.
In a preferred embodiment of the present invention, described panel uses STM32F405 full Digitized Servo Control,
STM32F405 full Digitized Servo Control is the introducing integrated special driving chip of multiaxis in controller based on STM32F405
A3906SESTR-T, described panel is with STM32F405 for processing core.
In a preferred embodiment of the present invention, described monokaryon three axle four-wheel structure changes slight Mus MPU Controlled All Digital Servo System
Controller is additionally provided with host computer procedure and motion control program, and described host computer procedure also includes that labyrinth is found out, labyrinth is deposited
Storage and data export, and described motion control program also includes based on STM32F405 tri-axle total digital DC SERVO CONTROL, labyrinth
Location and model selection.
In a preferred embodiment of the present invention, described based on STM32F405 tri-axle total digital DC SERVO CONTROL also
Control including interconnective four-wheel slight Mus total digital DC SERVO CONTROL with based on single shaft direct current generator absorption friction service,
Described four-wheel slight Mus total digital DC SERVO CONTROL includes position module, acceleration module and acceleration module.
The invention has the beneficial effects as follows: the monokaryon three axle four-wheel structure changes slight Mus MPU Controlled All Digital Servo System of the present invention controls
Device, improves the stability of monokaryon slight Mus MPU Controlled All Digital Servo System, and vac sorb motor does not stops to take out by vacuum suction apparatus
Inhaling the air in micro vacuum sucker, the external and internal pressure making micro vacuum sucker is different, produces certain negative pressure so that it is to band
The ground, labyrinth having dust produces certain absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skids；
Motion sensor can measure the yaw rate of slight Mus, when slight Mus changes and exceedes setting threshold values solving labyrinth attitude
Time, at a new sampling period sampling controller the most immediately to its position compensation, it is to avoid slight Mus off-center position far away
Put the generation of phenomenon, improve stability during its rapid solving.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is two wheel drive slight Mus X-Y scheme；
Fig. 2 is slight Mus 32*32 labyrinth schematic diagram；
Fig. 3 is the connection figure schematic diagram of A3906SESTR-T and two spindle motors；
Fig. 4 is three axle four-wheel structure changes slight Mus two dimension schematic diagrams；
Fig. 5 is based on STM32F405 tri-axle four-wheel structure changes slight Mus theory diagram；
Fig. 6 is based on STM32F405 tri-axle four-wheel structure changes slight Mus SERVO CONTROL flow chart；
Fig. 7 is slight Mus navigation pattern.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
As shown in Figure 4, the embodiment of the present invention includes:
A kind of monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller, including slight Mus housing, wheel, first
Infrared sensor S1, the second infrared sensor S2, the 3rd infrared sensor S3, the 4th infrared sensor S4, the 5th infrared sensing
Device S5, the 6th infrared sensor S6, the first High-speed DC servomotor Y, the second High-speed DC servomotor X, vac sorb electricity
Machine M, the first magnetism encoder M1, the second magnetism encoder M2, motion sensor G1 and gather sensor L1, four described
Wheel is arranged on the limit, the left and right sides of slight Mus housing, the first described infrared sensor S1 and the 6th infrared sensing the most two-by-two
Device S6 is separately positioned on the limit, the left and right sides of slight Mus housing and is positioned at the front end of wheel, the second described infrared sensor S2 and
5th infrared sensor S5 is arranged on the front end of slight Mus housing, and the 3rd described infrared sensor S3 is angularly disposed red first
Between outer sensor S1 and the second infrared sensor S2, the 4th described infrared sensor S4 is angularly disposed at the 5th infrared sensing
Between device S5 and the 6th infrared sensor S6, the first described High-speed DC servomotor Y and the second High-speed DC servomotor X
Being separately mounted to the right and left of slight Mus housing the position between two wheels, described vac sorb motor M sets
Put the centre position above the first High-speed DC servomotor Y and the second High-speed DC servomotor X, the first described magnetoelectricity
Encoder M1 and the second magnetism encoder M2 is separately positioned on the first High-speed DC servomotor Y and the second High-speed DC servo electricity
The lower section of machine X, described motion sensor G1 and collection sensor L1 are successively set on the lower section of vac sorb motor M.Wherein,
Described wheel includes X wheel, Y wheel, R wheel and Z wheel.
Corner dimension in above-mentioned, when the 3rd described sensor S1 and the 4th sensor S4 is angularly disposed and between Y-axis
For:。
In the present embodiment, the first described magnetism encoder M1 and the second magnetism encoder M2 all uses and passes based on magnetoelectricity
The encoder of sensor AS5040H；Being provided with vacuum cup on described wheel, absorption property is good.
As it is shown in figure 5, described monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller also includes electricity
Source apparatus and panel, be provided separately the panel described in electric current driving by described supply unit, and described panel is respectively
Send the first control signal, the second control signal and the 3rd control signal, by the first described control signal, the second control signal
Control described the second High-speed DC servomotor, the first High-speed DC servomotor and vacuum respectively with the 3rd control signal to inhale
The motion of slight Mus is controlled again after the signal syntheses of attached motor.
In above-mentioned, described supply unit uses lithium ion battery；Described panel uses that STM32F405 is digital to be watched
Clothes control, and STM32F405 full Digitized Servo Control is the introducing integrated special driving core of multiaxis in controller based on STM32F405
Sheet A3906SESTR-T, described panel is with STM32F405 for processing core.
STM32F4 series is in addition to pin and softwarecompatible high performance F2 series, and the dominant frequency (168MHz) of F4 is higher than F2 system
Row (120MHz), and support monocycle DSP instruction and floating point unit, bigger SRAM capacity (192 KB, F2 are 128 KB),
The more advanced peripheral hardwares such as the embedded flash memory of 512KB-1MB and image, network interface and data encryption.STM32F4 series base
In up-to-date ARM Cortex M4 kernel, in existing outstanding STM32 microcontroller products combination, increase signal processing newly
Function, and improve the speed of service；STM32F405x be integrated with intervalometer, 3 ADC, 2 DAC, serial line interface, external memory interface,
Real-time clock, CRC computing unit and simulation real random number generator make F4 series in interior a whole set of advanced peripheral hardware, these performances
Can be easier to meet and control and the Digital Signals demand of signal processing function mixing.Efficient signal processing function with
The low energy consumption of Cortex-M4 processor family, low cost and the combination of wieldy advantage so that it can be that multiaxis is electronic
Machine controls to provide flexible solution.These features make STM32F405 be particularly suitable for slight Mus three axle four-wheel servosystem
Signal processing.
The present invention, in order to reduce the volume of monokaryon slight Mus MPU Controlled All Digital Servo System, has given up two traditional axle DC servos
Motor H type drive axle L6207D, and use the two axle DC servo motor drive axles that volume is less, voltage is less
A3906SESTR-T, A3906SESTR-T are a kind of single and double line DC motor Driver chips, and A3906 is intended to walk for low-voltage
Enter the pulse-width controlled (PWM) of motor, single channel and two-way direct current motor, can be in the electric current of each passage output up to 1 A, work
Voltage range is 2.5 to 9 V.The built-in fixing turn-off time PWM timer of A3906SESTR-T, according to chip periphery
The selection of sampling resistor, arranges peak point current.Cross stream output token and reach peak value for notification controller current of electric, can
For overcurrent protection, These characteristics makes A3906SESTR-T be particularly suitable for the two axle walking servosystem of slight Mus
In, the connection figure of A3906SESTR-T and slight Mus two axle DC servo motor is as it is shown on figure 3, wherein IN1, IN2, IN3, IN4
Coming from servo controller with SLEEP signal, controller is by adjusting IN1, and the signal of IN2, IN3, IN4 adjusts its output letter
Number OUT1A, OUT1B, OUT2A, OUT2B, realize the four-quadrant motion of DC servo motor then.
As shown in Figure 6, described monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller is additionally provided with
Host computer procedure and motion control program, described host computer procedure also includes that labyrinth is found out, labyrinth stores and data output, institute
The motion control program stated also includes based on STM32F405 tri-axle total digital DC SERVO CONTROL, location, labyrinth and model selection.
Wherein, described also include that interconnective four-wheel is micro-based on STM32F405 tri-axle total digital DC SERVO CONTROL
Micro-Mus total digital DC SERVO CONTROL and based on single shaft direct current generator absorption friction service control, the slight Mus of described four-wheel is total
Word actuated control system includes position module, acceleration module and acceleration module.
In order to improve the stability of monokaryon slight Mus MPU Controlled All Digital Servo System, increase the contact area of slight Mus and ground,
Reducing the reach of slight Mus center of gravity, rear shifting or sidesway, the present invention realizes the function of two axle four-wheels by gear mechanism structure,
It is equipped with the gear wheel machinery of a little mechanical gear, this gear and former and later two wheels even in the rotating shaft of the every spindle motor in left and right
Connecing, wherein the tooth of gear wheel is weekly 60, and the tooth of little gear is weekly 15, makes each wheel by such mechanical connection
Become power wheel.
In order to improve the stability of monokaryon slight Mus MPU Controlled All Digital Servo System further, prevent slight Mus when exploring at a high speed
Due to floor-dust more and cause walking skid, the present invention add in slight Mus servo hardware system micro vacuum absorption
Motor M, in slight Mus motor process, vac sorb motor M does not stop to aspirate in micro vacuum sucker by vacuum suction apparatus
Air, the external and internal pressure making micro vacuum sucker is different, produces certain negative pressure so that it is to the ground, labyrinth with dust
Produce certain absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skid.
In order to improve the slight Mus stability when solving labyrinth further, the present invention is in slight Mus servo hardware system
Add high-performance MEMS motion sensor LY3200ALH(motion sensor G1), LY3200ALH can measure slight Mus
Yaw rate, the LY3200ALH parameter moment is by STM32F405 controller record and calculates, when slight Mus is solving labyrinth attitude
Change when exceeding setting threshold values, at a new sampling period controller the most immediately to its position compensation, it is to avoid slightly
The generation of Mus off-center position phenomenon far away, improves stability during its rapid solving.
In order to preferably gather labyrinth information and reduce the volume that infrared sensor takies, the present invention uses infrared sensor
SFH4350 instead of the OPE9954A of tradition use, and the infrared light of infrared sensor S1, S2, S3, S4, S5, S6 is through side barricade
Can be received by corresponding infrared remote receiver BPW85A after feedback, as current after then the value of feedback via controller of BPW85A calculates
The feedback of position, controller adjusts the attitude of slight Mus by these values of feedback.
In order to reduce the price raising that photoelectric encoder takies, and reducing the dust impact on photoelectric encoder, the present invention uses
Encoder M1, M2 of based on magnetoelectric transducer AS5040H instead of traditional photoelectric encoder C1 and C2, and this sensor can have
Effect measures speed when two axle DC servo motors move and displacement, for slight Mus rapid discovery, three closed loop servos of spurt
Control to provide reliable basis.
Find in an experiment, use four groups of sensors can improve the sample frequency of sensor, be conducive to improving slight Mus
Speed, but if four groups of sensors compensate do bad it would be possible to that cause that slight Mus solves is a wrong fan
Palace；If using the unknown labyrinths of six groups of sensors detection, solving labyrinth and typically not havinging a mistake, but too much sensor group
Conjunction have impact on sample frequency, is unfavorable for the raising of slight Mus speed；In order to take into account different international rules and Maze Exploration
Accuracy, independent research of the present invention brand-new control models based on six groups of sensor independent assortment structure changes detection labyrinths, institute
Invention three axle four-wheels slight Mus two-dimensional structure as shown in Figure 4, in the diagram, in order to preferably detect labyrinth, infrared sensor S3
With the corner dimension between S4 and Y-axis is:, interval at this, sensor cooperating state is optimal.For visiting
Rope, without the international rule of time requirement, is opened six groups of sensors by software and is explored pattern, and infrared sensor S1, S6 act on jointly
Judge that front barricade, infrared sensor S2, S3 judge the existence of its left side barricade, infrared sensor S4, S5 to judge on the right of it and keep off
The existence of wall, infrared sensor S2, S3 and S4, S5 cooperate to provide navigation foundation for slight Mus linear motion simultaneously；For exploring
Having the international rule of time requirement, open four groups of mode sensors by software, sensor S1, S6 jointly act on and judge that front keeps off
Wall, infrared sensor S3 judges that the existence of its left side barricade, infrared sensor S4 judge the existence of barricade on the right of it, the most infrared
Sensor S3 cooperates with S4 to provide navigation foundation for slight Mus linear motion.The infrared light warp of infrared sensor S1, S3, S4, S6
Can be received by corresponding infrared remote receiver BPW85A after side barricade feedback, after then the value of feedback via controller of BPW85A calculates
As the feedback of current location, then controller adjusts the attitude of slight Mus by these values of feedback.
To sum up, the present invention is to overcome single-chip microcomputer can not meet slight Mus to solve the requirement of complex maze, with reference to domestic micro-electricity
The unit mode of operation that brain Mus is used, absorbing on the premise of external Dynamic matrix control thought, independent research based on
The digital three axle four-wheel slight Mus servo controller of STM32F405, its principle as shown in Figure 5: panel with STM32F405 is
Process core, it is achieved slightly Mus explores labyrinth and the processing in real time of digital signal time slight Mus make a spurt in labyrinth, and realize right
Two axles drive the in real time input of control chip A3906SESTR-T and output to control, and quickly respond interruption, it is achieved data communication and
Storage live signal.
Full-digital servo controller flow chart such as Fig. 6 of this invention design.
For reaching above-mentioned purpose, the present invention takes techniques below scheme, in order to improve three axle four-wheels slight Mus servosystem
Arithmetic speed and digitized degree, it is ensured that the stability of slight Mus system and reliability, the present invention is in control based on STM32F405
Introducing integrated special driving chip A3906SESTR-T of multiaxis in device processed, this controller takes into full account the battery work in this system
With, maximum for workload in control system three axle servosystem, man machine interface, labyrinth is found out, data store, data export,
The functions such as Schema control selection are given STM32F405 and are completed, and realize driving two axles the reality of control chip A3906SESTR-T
Time input and output control.In order to improve the load capacity of motor and reduce it and take volume, present invention high-speed permanent magnetic direct current
Servomotor instead of common direct current generator.
With reference to Fig. 4, Fig. 5, Fig. 6, Fig. 7, being embodied as step is:
For design herein based on STM32F405 monokaryon three axle four-wheel structure changes slight Mus Full Digitized Servo Control System, micro-
Micro-Mus is initially placed in labyrinth starting point, and under power-on state, slight Mus is introduced into self-locking state, and now controller is opened
Vacuum draw motor M, then slightly Mus rely on front, left and right side keep in obscurity sensor S1, S3, S4, S6(or S1, S2, S3, S4,
S5, S6) these ambient parameters are turned to the STM32F405 in controller, STM32F405 according to actual navigational environment transmission parameter
Turning to distance, speed and acceleration reference value that slight Mus two spindle motor is to be run, STM32F405 is in conjunction with magnetism encoder
The feedback of M1, M2 generates the PWM ripple driving two axle direct current generators, and STM32F405 adjusts two axle DC servo motor driving chip
The output signal of A3906SESTR-T, A3906SESTR-T drives two axle DC servo motor X and Y to advance, motor operating parameter
Feed back to STM32F405 through magnetism encoder M1 and M2, STM32F405 read after after-treatment, adjust A3906SESTR-T
Pin output state, then change the kinestate of slight Mus.
With reference to Fig. 6, its concrete functional realiey is as follows:
1) in order to realize three axle four-wheel slight Mus motions, this control system introduces DC servo motor driving chip
A3906SESTR-T, but be connected with STM32F405 by I/O mouth, STM32F405 control its input and output signal, by
A3906SESTR-T controls turning on and off of servomotor X and servomotor Y；
2) turning on the power moment, cell voltage can be detected by STM32F405, if low pressure, will forbid
A3906SESTR-T works, and OUT1A, OUT2A, OUT1B and OUT2B are low level, and High-speed DC servomotor X, high speed are straight
Flow servo motor Y all can not start, and voltage sensor V1 is by work simultaneously, and sends alarm signal, if system voltage is normal,
Panel first turns on vac sorb motor M, is first aspirated micro vacuum sucker by aspirator, makes vacuum cup to ground
Having certain absorption affinity, controller also detects in real time, if ground is not clean, system can be automatically adjusted vac sorb motor M
Strengthen the vacuum cup absorption affinity to ground；
3) in micro computer motor process, six independent infrared transmitting tubes of infrared sensor S1, S2, S3, S4, S5, S6(
The infrared light that SFH4350 sends is converted into the information in labyrinth around after six independent infrared remote receiver BPW85A accept) sentence
Disconnected environment around also gives STM32F405, and panel can select to open four groups of mode sensors or six groups of biographies according to rule
Sensor pattern, STM32F405 is converted into slight Mus four-wheel all around distance, speed to be run these ambient parameters and adds
Speed value, STM32F405 is trapezoidal in conjunction with the Velocity-time motion of the feedback generation slight Mus motion of magnetism encoder
Figure, this trapezoidal area comprised is exactly slight Mus motor X, distance S to be run for motor Y, and STM32F405 is then according to this
The acceleration of ladder diagram and speed distance parameter generate the PWM ripple driving two axle High-speed DC servomotor X and motor Y, by
STM32F405 adjusts the input signal of A3906SESTR-T, and A3906SESTR-T drives two High-speed DC servomotor X and Y
Motion, controller detects the feedback of magnetism encoder M1 and M2 of motor X, motor Y in real time, and according to motor X and motor Y speed
The SERVO CONTROL of size self-regulation motor M, thus change the vacuum cup absorption affinity to ground；
4) if controller finds that labyrinth solves and occurs that endless loop will send interruption to STM32F405 in slight Mus motor process
Request, STM32F405 can be if the interrupt response of STM32F405 does not have enough time to process, micro-to interrupting doing very first time response
The motor X of micro-Mus, motor Y are by original place self-locking；
5) its position signalling A and position signalling B, magnetoelectricity can be exported with motor X, magnetism encoder M1 and M2 corresponding for motor Y
Position signalling A pulse and the B pulsed logic state of encoder often change once, and the location register in STM32F405 can basis
The traffic direction of left and right wheels adds 1 or subtracts 1；
6), after the position signalling of magnetism encoder M1 and M2 is processed by STM32F405, just produce an INDEX signal and give
STM32F405 depositor, the absolute position of record motor, it is then convert into slight Mus particular location in labyrinth, and stores
Current labyrinth information；
7) three axle four-wheel servo controllers are according to the slight Mus particular location in labyrinth, send corresponding acceleration, speed and position
Data etc. are to STM32F405 as reference value, and then STM32F405 calculates slight Mus according to peripheral disturbed condition needs to update
Actual acceleration, speed and position signalling.Controller determines how according to the rate signal that slight Mus is actual and adjusts motor M's
SERVO CONTROL, so change slight Mus at various speeds with the coefficient of friction on ground, meet actual requirement；
8) STM32F405 determines motor X, motor Y rotating signal according to substantial periphery magnetoelectric transducer M1 and M2 transducing signal,
Thus the rotating realizing motor controls；
9) slightly Mus once accelerate, slow down, road dust more, STM32F405 can enable vacuum absorption device automatically, unlatching
The SERVO CONTROL of motor M, slight Mus is naturally switched to three axle four-wheel drive states, enhances adhesive force and the manipulation of slight Mus
Property；
10) in slight Mus forward movement, infrared sensor S3(or S2, S3) and infrared sensor S4(or S4, S5) meeting
Judging the barricade of left and right, and record the current labyrinth retaining wall information of storage, slight Mus is according to direction of advance left and right barricade
Labyrinth information enters single wall navigation pattern or double wall navigation pattern: as infrared sensor S3(or S2, S3) and infrared sensing
Device S4(or S4, S5) detect left and right when all having barricade, digital slight Mus enters double wall navigation pattern, now infrared sensor
S3(or S2, S3) and infrared sensor S4(or S4, S5) the labyrinth information detected can be input to Full-digital servo controller,
Controller the value of infrared real-time detection compared with pre-set value, when slight Mus quickly walks by external interference departing from setting
During centering position, probe value will produce relatively large deviation with setting value, and now sensor G1 (LY3200ALH) records the most micro-
The yaw rate of micro-Mus, Full-digital servo controller proceeds by real-Time Compensation and finely tunes two axle servo electricity by A3906SESTR-T
The PWM ripple input of machine X and Y, can readjust the attitude of slight Mus by this mode so that it is come back to set centre bit
Put；As infrared sensor S3(or S2, S3) detect left surface and have a barricade and infrared sensor S4(or S4, S5) detect right side
In time without barricade, digital slight Mus enters left wall navigation pattern, now infrared sensor S3(or S2, S3) can be the fan detected
Palace information is input to Full-digital servo controller, and controller can be thought that the value of real-time detection compare with pre-set value, when slight Mus
Quickly walking is by external interference departing from when setting center, and probe value will produce certain deviation with setting value, and now pass
Sensor G1 (LY3200ALH) records the yaw rate of current Mus slightly, and Full-digital servo controller proceeds by real-Time Compensation also
The PWM ripple being finely tuned two axle servomotor X and Y by A3906SESTR-T is inputted, and can readjust slight Mus by this mode
Attitude so that it is come back to set center；As infrared sensor S4(or S4, S5) detect right flank and have barricade and red
Outer sensor S3(or S2, S3) detect left side without barricade constantly, digital slight Mus enters right wall navigation pattern, the most infrared
Sensor S4(or S4, S5) the labyrinth information detected can be input to Full-digital servo controller, panel can be visiting in real time
The value surveyed is wanted to compare with pre-set value, when slight Mus quickly walks by external interference departing from when setting center, visits
Measured value will produce certain deviation with setting value, and now sensor G1 (LY3200ALH) records the yaw rate of current Mus slightly, entirely
Digital servo controller proceeds by real-Time Compensation and to finely tune the PWM ripple of two axle servomotor X and Y by A3906SESTR-T defeated
Enter the attitude that can be readjusted slight Mus by this mode so that it is come back to set center；
11) when the three slight Mus of axle four-wheel move to new address under the control of sensor G1 (LY3200ALH), microprocessor will
Updating its coordinate, and judge that its coordinate is (X1, Y1), updating its coordinate if not by continuation, if notice being controlled
Device processed has arrived target, then puts exploration of making a return voyage and is masked as 1, and slight Mus prepares return and explores；
12) in order to realize slight Mus explore and spurt time accurately coordinate calculate, the infrared sensor about slight Mus
S3(or S2, S3) and S4(or S4, S5) can the moment labyrinth retaining wall and the pillar of surrounding be detected, if infrared sensor S3
(or S2, S3) or infrared sensor S4(or S4, S5) find that sensor signal there occurs larger value of transition, then illustrate micro-
Micro-Mus enters from having labyrinth retaining wall to the change without labyrinth retaining wall (or from without labyrinth retaining wall to there being labyrinth retaining wall) state,
STM32F405 can be thorough according to slight Mus current operating conditions and combine the input of magnetism encoder M1 and M2 and accurately compensate
The end, eliminates the error that slight Mus has added up in complex maze；
13) if slightly Mus runs into fault when hitting wall in running, motor X, the electric current of motor Y will increase, and set when exceeding
During definite value, the input dragging down A3906SESTR-T is believed by the current collection circuit of A3906SESTR-T by work, STM32F405
Number, now controller can control A3906SESTR-T immediately and quits work, and then release motor X, motor Y, thus effectively solves
Determine stall problem；
14) Mus can detect cell voltage at running in the moment slightly, and when low pressure occurs in system, sensor V1 will open concurrently
Go out alarm, be effectively protected lithium ion battery；
15) in slight Mus motor process, if servosystem torque occurs in that pulsation interference, STM32F405 can be according to current
Electric current loop is compensated for by state, quickly adjusts the pid parameter of electric current loop so that system fast and stable gets off, and prevents torque arteries and veins
The dynamic impact on servosystem performance；
16) in the whole motor process of slight Mus, sensor L1 can moment jamming light source to external world be acquired, and is then transferred to
STM32F405, STM32F405 can compensate external interference automatically according to L1, decrease external interference light source quick to slight Mus
Explore and the interference of spurt servosystem；
17) returning to coordinate starting point (0,0) under the control of sensor G1 (LY3200ALH) when slight Mus, controller can be according to micro-
The original state of micro-Mus updates its information, if return is explored for the first time, then controller can be according to existing detection fan
Palace information uses improvement Flood Fill algorithm to solve optimal path；If spurt return is explored, then controller can be according to more
New detection labyrinth information uses to be improved Flood Fill algorithm secondary and solves optimal path, then big according to dash speed of controller
Little automatic adjustment motor M, changes the vacuum cup absorption affinity to ground, meets friction needs during fast sprint.
The invention have the advantages that:
1: resistance and electric capacity in the present invention all use 0402 encapsulation to instead of original 0603 encapsulation, can preferably reduce micro-
The volume of micro-Mus, the miniaturization of the most slight Mus；
2: STM32F405 of the present invention uses BGA package to instead of original LQFP176 encapsulation so that the volume that chip occupies is more
Little, advantageously reduce the volume of slight Mus servo-control system, and BGA package is more conducive to dissipating of slight Mus servo controller chip
Heat；
3: in order to fully improve stability and the driveability of slight Mus servosystem, and take into account the advantage of two-wheel drive, this
Bright give up original many power real-time 4 wheel driven structure, realized two axle four-wheel functions by gear mechanism structure, both decreased micro-
Micro-Mus controller drives the number of power motor, achieves the function of many wheels further through gear, and that improves slight Mus solves labyrinth
Time walking stability；
4: owing to STM32F405 is integrated with new DSP and FPU instruction, the high speed processing performance of 168MHz improves digital signal
The execution speed of controller and code efficiency so that the real-time control performance of Mus servo controller slightly increases；
5: realize adsorption function as required；During slight Mus solves labyrinth, once run into road dust more or accelerate
During situation, STM32F405 can feed back the SERVO CONTROL opening absorption motor M immediately according to the magnetism encoder of two spindle motors, micro-
Micro-Mus system is switched to three axle four-wheel drive states naturally, enhances the adhesive force of slight Mus and handling；
6: owing to using two axle four-wheel drive structures, add the contact area of slight Mus and ground, decrease the slight Mus of two-wheeled
The generation of the stall problem that frame for movement causes so that Mus slightly has more preferable walking function；
7: slight Mus servosystem introduces high-performance MEMS motion sensor LY3200ALH at this, it is achieved that Mus slightly exists
The detection of instantaneous rotary speed when solving labyrinth, and utilize feedback to realize the real time correction of whole process navigation, is conducive to improving micro-
The stability during walking at a high speed of micro-Mus and dynamic property；
8: when slightly Mus turns to, in order to ensure the stability and the accuracy that rotate, the most anti-by sensor LY3200ALH
Feedback, the exploration servo controller turning real time correction to slight Mus based on STM32F405, improve slight Mus and solve labyrinth letter
The correctness of breath；
9: processed slight Mus by STM32F405 and solve the independent SERVO CONTROL of labyrinth period three motor so that control simpler
Single, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and journey
Sequence transplantation ability is strong；
10: according to the difference of international rule, the change that controller can realize four groups of sensors and six groups of sensors by software is tied
Structure switches, and improves slight Mus and solves the technology in labyrinth, the arithmetic speed of beneficially raising system；
11: owing to using the traditional photoelectric encoder technology of magnetism encoder technical substitution so that the volume of Mus slightly is permissible
Less, the development of the most slight Mus miniaturization；
12: owing to using magnetism encoder to instead of traditional photoelectric encoder so that the dust data acquisition shadow to encoder
Ring and be substantially reduced, improve the slight Mus high speed speed of travel and the accuracy of displacement, also ensure that slight Mus solves the standard in labyrinth
Really property；
13: owing to this controller uses STM32F405 to process labyrinth storage and exploration, spurt algorithm, effectively prevent program
" race flies ", capacity of resisting disturbance is greatly enhanced；
14: in slight Mus running, the torque of High-speed DC servomotor X, motor Y and motor M can be carried out by controller
On-line identification also utilizes motor torque to compensate with the relation of electric current, decreases motor torque shake and quickly visits slight Mus
Rope, the impact of fast sprint；
15: can effectively regulate the vacuum cup absorption affinity to ground by regulation motor M, eliminate slight Mus and visiting at a high speed
The generation of skidding when rope, sound lunge；
16: owing to having storage function, this can transfer, after making slight Mus power down, the labyrinth information explored easily,
Time that secondary explores and path is made to be substantially reduced；
17: in the controlling, STM32F405 can adjust the pid parameter within controller according to labyrinth situation around reality, easily
Realize segmentation P, PD, PID to control and nonlinear PID controller, make system have certain adaptive ability；
18: in motor process, servo-control system has taken into full account battery effect in this system, based on
The running status of slight Mus is all being monitored and computing by the STM32F405+A3906SESTR-T controller moment, due to
A3906SESTR-T has been internally integrated current collection circuit, and the electric current of motor can be acquired by the moment, fundamentally avoids
The generation of big electric current, so solve the impact to lithium ion battery of the big electric current, it is to avoid causes due to heavy-current discharge
The generation of lithium ion battery overaging phenomenon；
The current acquisition function of 19:A3906SESTR-T can well solve slight Mus and run into feelings such as hitting wall in running
The motor rotation blockage that condition occurs, when output is beyond setting value, the current collection circuit of A3906SESTR-T works immediately, unidirectional current
Machine X, the driving signal of motor Y are pulled low, thus efficiently solve stall problem.
In sum, the monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller of the present invention, improve
The stability of monokaryon slight Mus MPU Controlled All Digital Servo System, vac sorb motor does not stop to aspirate micro vacuum by vacuum suction apparatus
Air in sucker, the external and internal pressure making micro vacuum sucker is different, produces certain negative pressure so that it is to the fan with dust
Ground, palace produces certain absorption affinity, effectively prevent the slight Mus ground when high speed Maze Exploration and skids；Motion sensor
The yaw rate of slight Mus can be measured, when slight Mus solve labyrinth attitude change exceed setting threshold values time, at one
New sampling period sampling controller is the most immediately to its position compensation, it is to avoid sending out of slight Mus off-center position phenomenon far away
Raw, improve stability during its rapid solving.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (9)
1. a monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller, it is characterised in that include slight Mus
Housing, wheel, the first infrared sensor, the second infrared sensor, the 3rd infrared sensor, the 4th infrared sensor, the 5th red
Outer sensor, the 6th infrared sensor, the first High-speed DC servomotor, the second High-speed DC servomotor, vac sorb electricity
Machine, the first magnetism encoder, the second magnetism encoder, motion sensor and collection sensor, four described wheels are respectively
Being arranged on the limit, the left and right sides of slight Mus housing two-by-two, the first described infrared sensor and the 6th infrared sensor are respectively provided with
At the limit, the left and right sides of slight Mus housing the front end that is positioned at wheel, the second described infrared sensor and the 5th infrared sensor
Being arranged on the front end of slight Mus housing, the 3rd described infrared sensor is angularly disposed infrared at the first infrared sensor and second
Between sensor, the 4th described infrared sensor is angularly disposed between the 5th infrared sensor and the 6th infrared sensor,
The first described High-speed DC servomotor and the second High-speed DC servomotor are separately mounted to the left and right two of slight Mus housing
Limit the position between two wheels, described vac sorb motor is arranged on the first High-speed DC servomotor and second
Centre position above High-speed DC servomotor, the first described magnetism encoder and the second magnetism encoder are separately positioned on
First High-speed DC servomotor and the lower section of the second High-speed DC servomotor, described motion sensor and collection sensor
It is successively set on the lower section of vac sorb motor.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 1, its feature exists
In, corner dimension when the 3rd described sensor and the 4th sensor are angularly disposed and between Y-axis is:。
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 1, its feature
Being, the first described magnetism encoder and the second magnetism encoder all use encoder based on magnetoelectric transducer AS5040H.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 1, its feature
It is, described wheel is provided with vacuum cup.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 1, its feature
Being, described monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller also includes supply unit and control
Plate, is provided separately the panel described in electric current driving by described supply unit, and described panel sends the first control respectively
Signal, the second control signal and the 3rd control signal, controlled letter by the first described control signal, the second control signal and the 3rd
Number control described the second High-speed DC servomotor, the first High-speed DC servomotor and the signal of vac sorb motor respectively
The motion of slight Mus is controlled again after synthesis.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 5, its feature
Being, described supply unit uses lithium ion battery.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 5, its feature
Being, described panel uses STM32F405 full Digitized Servo Control, STM32F405 full Digitized Servo Control be based on
In the controller of STM32F405 introduce integrated special driving chip A3906SESTR-T of multiaxis, described panel with
STM32F405 is for processing core.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 1, its feature
Being, described monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller is additionally provided with host computer procedure and fortune
Dynamic control program, described host computer procedure also includes that labyrinth is found out, labyrinth stores and data output, described motor control journey
Sequence also includes based on STM32F405 tri-axle total digital DC SERVO CONTROL, location, labyrinth and model selection.
Monokaryon three axle four-wheel structure changes slight Mus Full-digital servo system controller the most according to claim 8, its feature
Be, based on STM32F405 tri-axle total digital DC SERVO CONTROL, described also includes that the slight Mus of interconnective four-wheel is total
Word actuated control system and based on single shaft direct current generator absorption friction service control, described four-wheel slight Mus total digital DC is watched
Take control and include position module, acceleration module and acceleration module.
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Application publication date: 20160824 |
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