CN107966934A - A kind of energy saving intelligent carriage and its energy-saving control method - Google Patents
A kind of energy saving intelligent carriage and its energy-saving control method Download PDFInfo
- Publication number
- CN107966934A CN107966934A CN201711263471.1A CN201711263471A CN107966934A CN 107966934 A CN107966934 A CN 107966934A CN 201711263471 A CN201711263471 A CN 201711263471A CN 107966934 A CN107966934 A CN 107966934A
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- CN
- China
- Prior art keywords
- intelligent carriage
- energy
- motor
- energy saving
- tps630701
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- 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.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
Abstract
The invention discloses a kind of energy saving intelligent carriage and its energy-saving control method, 6F/12v super capacitor groups including intelligent carriage, 6F/12v super capacitor groups are connected to TPS630701 lifting die blocks, TPS630701 lifting die blocks are provided with the 5V power supply interfaces for being supplied to steering engine, motor and photoelectric code disk and signal acquisition module, and Voltage stabilizing module TPS7333 is connected with, Voltage stabilizing module TPS7333 is provided with the 3.3V power supply interfaces for being supplied to controller.The present invention adds lifting die block after the confession electricity output of super capacitor, it ensure that the stability of voltage output, it disclosure satisfy that the needs of motor, steering engine and signal acquisition voltage at the same time, it is not necessary to additionally introduce 5V voltage stabilizing chips, the power consumption of chip consumption can be saved.
Description
Technical field
The invention belongs to intelligent carriage technical field, and in particular to a kind of energy saving intelligent carriage and its energy-saving control method.
Background technology
At present, it is many technical although it has been the 12nd that En Zhi Pus company, which holds the cup intelligent vehicle match of grace intelligence Pu,
Problem comparative maturity, but due to the variable variability of contest, conventional electromagnetism racing car core circuit, construction, program part
The problem of energy saving is not accounted for.
The content of the invention
The technical problem to be solved in the present invention is：A kind of energy saving intelligent carriage and its energy-saving control method are provided, to solve
Problems of the prior art.
The technical solution that the present invention takes is：A kind of energy saving intelligent carriage, includes the 6F/12v super capacitors of intelligent carriage
Group, 6F/12v super capacitor groups are connected to TPS630701 lifting die blocks, and TPS630701 lifting die blocks, which are provided with, to be supplied to
The 5V power supply interfaces of steering engine, motor and photoelectric code disk and signal acquisition module, and it is connected with Voltage stabilizing module TPS7333, voltage stabilizing
Module TPS7333 is provided with the 3.3V power supply interfaces for being supplied to controller.
A kind of energy saving intelligent carriage, further includes the three road inductance for being connected to controller, and three road inductance are adopted for electromagnetic signal
Collect sensor.
A kind of energy saving intelligent carriage, further includes driving motor, and driving motor uses brshless DC motor.
A kind of energy-saving control method of energy saving intelligent carriage, this method are：Electromagnetism trolley is sensed by LM386 electromagnetic signals
Device obtain racing track electromagnetic signal, then passage path recognizer obtain deviation, using fuzzy PID algorithm control sd-5 steering engines into
Line direction controls, photoelectric code disk picking rate signal, after carrying out pid algorithm processing, by electricity regulate and control DC brushless motor processed into
Row speed control.
Beneficial effects of the present invention：Compared with prior art, the present invention is using the larger super electricity of 6F/12v of power density
Appearance is used as power supply, adds lifting die block after the confession electricity output of super capacitor, ensure that the stability of voltage output, at the same time
The output voltage interface that TPS630701 is provided is 5V, disclosure satisfy that the needs of motor, steering engine and signal acquisition voltage, is not required to
5V voltage stabilizing chips are additionally introduced, the power consumption of chip consumption can be saved, motor uses the brushless dc using electricity regulation and control system
Machine, brshless DC motor power consumption is low, efficient, while can meet the speed requirement of intelligent carriage, and electromagnetic signal acquisition is used
Three minimum road inductance, make every effort to least in power-consuming.
Brief description of the drawings
Fig. 1 is the design overall plan of electromagnetic energy-saving car；
Fig. 2 is the energy supply structure figure of this electromagnetic energy-saving car；
Fig. 3 is the power circuit diagram of this electromagnetic energy-saving car；
Fig. 4 is the 5v buck module circuit diagrams of TPS630701；
Fig. 5 is the 3V regulator circuit figures of TPS7333；
Fig. 6 is LM386 signal acquisition circuit figures；
Fig. 7 is MK60DN512VLQ10 controller circuitry figures；
Fig. 8 is annulus identification and the process chart of trolley；
Fig. 9 is the control flow chart of trolley.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described further in specific embodiment.
Embodiment：As Figure 1-Figure 8, a kind of energy saving intelligent carriage, includes the 6F/12v super capacitor groups of intelligent carriage,
6F/12v super capacitor groups are connected to TPS630701 lifting die blocks, and TPS630701 lifting die blocks, which are provided with, is supplied to rudder
The 5V power supply interfaces of mechanical, electrical machine and photoelectric code disk and signal acquisition module, and Voltage stabilizing module TPS7333 is connected with, voltage stabilizing mould
Block TPS7333 is provided with the 3.3V power supply interfaces for being supplied to controller MK60DN512VLQ10.
A kind of energy saving intelligent carriage, further includes the three road inductance for being connected to controller, and three road inductance are adopted for electromagnetic signal
Collect sensor.
A kind of energy saving intelligent carriage, further includes driving motor, and driving motor uses brshless DC motor.
A kind of energy-saving control method of energy saving intelligent carriage, this method are：Electromagnetism trolley is sensed by LM386 electromagnetic signals
Device obtain racing track electromagnetic signal, then passage path recognizer obtain deviation, using fuzzy PID algorithm control sd-5 steering engines into
Line direction controls, photoelectric code disk picking rate signal, after carrying out pid algorithm processing, by electricity regulate and control DC brushless motor processed into
Row speed control.
Speed and direction controlling of the controller MK60DN512VLQ10 for whole trolley, and the signal of original electromagnetism
Computing is handled, three road LM386 electromagnetic sensors gather the electromagnetic signal on racing tracks, and photoelectric code disk is used for picking rate signal, controls
Device MK60DN512VLQ10 combinations sd-5 steering engines travel direction control processed, 2840 brshless DC motors and electricity tune are combined as trolley
Dynamical system.
A kind of electromagnetic energy-saving intelligent carriage based on super capacitor, its power voltage supply structure as shown in figures 2-6, including 6F/
12v super capacitor groups are power supply, and the positive and negative anodes of super capacitor group connect the IN ends and GND ends of TPS630701 lifting die blocks respectively,
Then lift die block by TPS630701 to export voltage stabilization 5V, then 5V voltage outputs interface, that is, OUT terminal and GND ends
With three road LM386 signals, electricity is adjusted, the positive and negative anodes of 2840 brshless DC motors and the input terminal IN ends of TPS7333 and GND ends phase
5V voltages are even provided.Then 5V voltage conversions are supplied to i.e. by controller into 3.3V voltages by TPS7333
MK60DN512VLQ10 is used（VCC and the GND connection of the OUT and GND and MK60DN512VLQ10 of TPS7333）.Three road inductance
AD0, AD1 and AD2 of collection signal LM386 meets PTB0, PTB1, PTB4 of controller MK60DN512VLQ10 respectively.Steering engine control
Signal processed is given by the PTA9 of controller MK60DN512VLQ10, and the pwm control signal of motor is by MK60DN512VLQ10's
The tachometer signal of PTC4 output photoelectric code disks connects the PTA19 of MK60DN512VLQ10.
TPS630701 circuit diagrams charge soon and discharge the characteristics of also fast as shown in figure 4, having because of super capacitor, if
Super capacitor is directly used in powers to intelligent power saving trolley, when the voltage of super capacitor does not reach the operating voltage of Cart subsystem
When, whole trolley will be stopped.So, this will cause the significant wastage of electricity, therefore be added behind super capacitor
TPS630701 lifts die block.
The electromagnetic signal sensor LM386 circuit diagrams of energy saving intelligent carriage are as shown in fig. 6, in order to save electricity, using most
Tri- road inductance of Shao is used for Path Recognition, and three road inductance, left and right two-way is horizontal positioned, and the 3rd tunnel is disposed vertically.
Trolley circular path recognizer is as shown in figure 8, first carry out electromagnetism original signal mean filter, at normalization
Reason, then carries out determining whether one section of straight way, if judge there is straight way then to judge whether left and right two paths of signals strongly reduces, when
Left and right two paths of signals at the same time less than setting limit value when, judge to enter annulus, into annulus after progress algorithm on letter
Number amplification K times.Ring judgement will be carried out out later by entering ring, and when middle inductance value increased dramatically, more than one limit value, judges ring,
Steering engine goes out ring to a fixed angle.
Control flow is as shown in figure 9, LM386 gathers original signal, by mean filter, and normalized, then
Path Recognition is carried out, then judges whether annulus, if annulus carries out annulus processing.It is not to carry out at other routing algorithms
Reason, then obtains deviation, and then carries out speed and direction controlling using fuzzy PID algorithm.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention, therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (4)
- A kind of 1. energy saving intelligent carriage, it is characterised in that：6F/12v super capacitor groups including intelligent carriage, the super electricity of 6F/12v Appearance group is connected to TPS630701 lifting die blocks, and TPS630701 lifting die blocks, which are provided with, is supplied to steering engine, motor and light The 5V power supply interfaces of code disc and signal acquisition module, and Voltage stabilizing module TPS7333 is connected with, Voltage stabilizing module TPS7333 is set It is provided with the 3.3V power supply interfaces to controller.
- A kind of 2. energy saving intelligent carriage according to claim 1, it is characterised in that：Further include three tunnels for being connected to controller Inductance, three road inductance are used for electromagnetic signal acquisition sensor.
- A kind of 3. energy saving intelligent carriage according to claim 1, it is characterised in that：Driving motor is further included, drives motor Using brshless DC motor.
- 4. according to a kind of energy-saving control method of any energy saving intelligent carriages of claim 1-3, it is characterised in that：The party Method is：Electromagnetism trolley obtains racing track electromagnetic signal by LM386 electromagnetic signal sensors, and then passage path recognizer obtains Deviation, using fuzzy PID algorithm control sd-5 steering engines travel direction control, photoelectric code disk picking rate signal, carries out pid algorithm After processing, DC brushless motor processed is regulated and controled by electricity and carries out speed control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263471.1A CN107966934A (en) | 2017-12-05 | 2017-12-05 | A kind of energy saving intelligent carriage and its energy-saving control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263471.1A CN107966934A (en) | 2017-12-05 | 2017-12-05 | A kind of energy saving intelligent carriage and its energy-saving control method |
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| CN107966934A true CN107966934A (en) | 2018-04-27 |
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| CN201711263471.1A Pending CN107966934A (en) | 2017-12-05 | 2017-12-05 | A kind of energy saving intelligent carriage and its energy-saving control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278570A (en) * | 2018-10-11 | 2019-01-29 | 湖北师范大学 | A kind of energy-saving electromagnetic navigation intelligent vehicle, control system and control method |
| CN109557921A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of control method of electromagnetic induction line walking intelligent vehicle |
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| CN109557921A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of control method of electromagnetic induction line walking intelligent vehicle |
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