CN211956163U - Cricket control experiment system based on resistance screen position detection - Google Patents
Cricket control experiment system based on resistance screen position detection Download PDFInfo
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- CN211956163U CN211956163U CN202020018239.2U CN202020018239U CN211956163U CN 211956163 U CN211956163 U CN 211956163U CN 202020018239 U CN202020018239 U CN 202020018239U CN 211956163 U CN211956163 U CN 211956163U
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Abstract
A cricket control experiment system based on resistance screen position detection comprises a resistance screen, a chassis and a two-dimensional steering engine control mechanical structure; the resistance screen is fixed at the horizontal position above the chassis, and the cricket moves on the plane of the resistance screen; the two-dimensional steering engine mechanical control structure comprises a ball joint, two guide rails, two connecting rods and two steering engines, wherein the ball joint is arranged in the center of the chassis; the chassis is rectangular, the transverse edge and the vertical edge are respectively provided with two guide rails, the driven ends of the two connecting rods are respectively driven by two independent steering engines, and the convex parts of the output ends of the two connecting rods respectively slide in the two guide rails; the device also comprises a singlechip and a power supply; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and directly controls the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the keyboard is used for setting the system, and the display screen displays information such as the position of a small ball, so that the human-computer interaction function is realized.
Description
Technical Field
The utility model relates to an experimental system, especially cricket control system based on resistance screen position detection.
Background
The cricket control and experiment system is a typical multivariable, nonlinear control object, which is a two-dimensional extension of a rod-and-ball system, and the control aim is to finally enable a free rolling body (ball) to stop at a specific position on a board or move along a certain track by changing the angle of a three-coordinate system.
The utility model relates to a cricket control system experiment platform based on resistance screen position detection, the cricket control system is as a very important basic research in automation field, and its research content relates to intelligent control, motion control etc. and many balances in the engineering application and all can use similar system with seeking mark.
CN109976188A proposes a board ball control method based on a time automaton, which includes the following steps: s10, constructing a mathematical model of the continuous process of the plate-sphere physical system by adopting a Lagrange' S kinetic equation method; s20, utilizing a time automaton modal model to construct mathematical modeling according to the operation rules of continuous and discrete processes and control logics reflecting the cricket physical system and the cricket embedded control system, and obtaining a cricket control system hybrid system model based on the time automaton; s30, collecting small ball position feedback data, and dividing the small ball displacement difference into small ball speed; s40, obtaining a control quantity to control the motion of the steering engine according to a previously constructed hybrid system model of the cricket control system based on the time automaton, thereby changing the motion state of the small ball and realizing the positioning and track tracking of the small ball on the flat plate. The cricket control system based on the time automaton comprises: the device comprises a resistance-type flat sensor, a controller and a steering engine, wherein the resistance-type flat sensor is used for acquiring the position of a cricket on a resistance-type flat plate and sending the position to the controller; the controller adopts a Lagrange dynamic equation method and is used for constructing a mathematical model of a continuous process of the plate-sphere physical system; by utilizing a time automaton modal model, a mathematical modeling is constructed according to the continuous and discrete processes and control logics reflecting the cricket physical system and the cricket embedded control system and the operation rules, and a crime-based crime control system hybrid system model is obtained; obtaining steering engine control quantity and sending the steering engine control quantity to a steering engine according to a previously constructed hybrid system model of the cricket control system based on the time automaton and position data of cricket in a resistance-type flat plate; the steering engine is used for changing the motion state of the small ball on the resistance-type flat plate so as to realize the positioning and the track tracking of the small ball on the resistance-type flat plate.
The mechanical system structure controlled by the two-dimensional steering engine can be improved aiming at specific application scenes, and the control mode is the same.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an improve two-dimensional steering engine control's mechanical system, based on resistance screen position detection's cricket control system, system control is convenient, and control accuracy is high.
The utility model adopts the technical scheme that: a cricket control experiment system based on resistance screen position detection comprises a resistance screen, a chassis and a two-dimensional steering engine control mechanical structure; the resistance screen is fixed at the horizontal position above the chassis, and the cricket moves on the plane of the resistance screen; the two-dimensional steering engine mechanical control structure comprises a ball joint, two guide rails, two connecting rods and two steering engines, wherein the ball joint is arranged in the center of the chassis; the chassis is rectangular, the transverse edge and the vertical edge are respectively provided with two guide rails, the driven ends of the two connecting rods are respectively driven by two independent steering engines, and the convex parts of the output ends of the two connecting rods respectively slide in the two guide rails; the device also comprises a singlechip and a power supply; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and directly controls the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the keyboard is used for setting the system, and the display screen displays information such as the position of a small ball, so that the human-computer interaction function is realized. The resistance screen is attached to the tray to jointly form a support platform of the small balls, and the resistance screen is used for acquiring position data of the small balls; when the steering engine is driven to swing, the convex parts of the output ends of the connecting rods are respectively positioned at the central positions of the two guide rails when the driving shaft of the steering engine is on a swinging vertical line, namely, the convex parts of the output ends of the connecting rods are relatively fixed at the middle points of two sides of the adjacent transverse edge and the vertical edge of the tray, the two connecting rods are respectively driven by the respective independent steering engines, and the inclination angles of the plane of the tray in the east-west two-dimensional direction and the south-north two-dimensional.
The other cricket control experiment system based on the position detection of the resistance screen comprises the resistance screen, a chassis and a two-dimensional steering engine control mechanical structure; the resistance screen is fixed at the horizontal position above the chassis, and the cricket moves on the plane of the resistance screen; the two-dimensional steering engine mechanical control structure comprises a ball joint, two joint connecting rods and two steering engines, wherein the ball joint is arranged in the center of the chassis; the chassis is rectangular, the horizontal edge and the vertical edge are respectively provided with two flat strips, the two joint connecting rods are two connecting rods with middle joints and driven by a steering engine, the lower end connecting rod with the middle joints is respectively driven by two independent steering engines, and the output ends of the two upper end connecting rods with the middle joints are respectively fixed on fixed pin shafts arranged at the positions of the two flat strips and swing in the directions of the two flat strips; the device also comprises a singlechip and a power supply; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and directly controls the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the keyboard is used for setting the system, and the display screen displays information such as the position of a small ball, so that the human-computer interaction function is realized. The resistance screen is attached to the tray to jointly form a support platform of the small balls, and the resistance screen is used for acquiring position data of the small balls; when the output ends of the two joint connecting rods are driven by the swinging of the steering engine, when the driving shaft of the steering engine is on a swinging vertical line, the output ends of the two joint connecting rods are respectively at the highest positions of the longitudinal and transverse directions, namely, the output ends are relatively fixed at the middle points of two sides of the adjacent transverse edge and vertical edge of the tray, the two joint connecting rods are respectively driven by the respective independent steering engines, and the steering engine drives through the two joint connecting rods when running to control the inclination angle of the plane of the tray in the east-west, south.
The electric part is as shown in figure 3, the singlechip is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small ball is obtained from the resistance screen;
the single chip microcomputer is connected with the steering engine, and the steering engine can be directly controlled through outputting PWM waves.
The single chip microcomputer is also connected with a keyboard and a display screen, manual setting can be carried out on the system through the keyboard, and the display screen can display information such as the positions of the small balls, so that the human-computer interaction function is realized.
The basic working principle of the cricket system is shown in fig. 4, the single chip microcomputer controls the steering engine to operate to enable the platform to generate an inclination angle, and the small balls roll on the flat plate under the action of self gravity and inertia. Meanwhile, the position information of the small balls is sent to the single chip microcomputer through the resistance screen to form a feedback system. The singlechip acquires the position of the small ball, then the singlechip carries out operation by a program compiled in advance, the operation result is output to the steering engine, the connecting rod drives the platform to move together when the steering engine operates, and the platform generates an inclination angle in the direction of X, Y. The steering engine swings the angle of the resistance screen under the control of the single chip microcomputer, so that the small ball moves on the resistance screen platform according to an appointed track.
The resistance screen is attached to the tray to jointly form a support platform of the small balls, and the resistance screen is used for acquiring position data of the small balls; the number of the connecting rods is 2, the connecting rods are respectively fixed at the middle points of two adjacent sides of the tray and are driven by 2 independent steering engines; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and can directly control the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the keyboard can be used for setting the system, and the display screen can display information such as the positions of the small balls, so that the human-computer interaction function is realized.
Has the advantages that: the mechanical process of the cricket control system is accurate and has better controllability, and the cricket control system can have continuous and discrete processes, control logic and operation rules. Compare existing continuous or discrete control model, the utility model discloses can obtain accurate system motion control orbit or control model, can accurately describe the effect of object of modelling, the cricket control system adopts programmable single chip microcomputer control steering wheel operation to make the platform produce the inclination, and the bobble rolls on the flat board because self gravity and inertia effect. Meanwhile, the position information of the small balls is sent to the single chip microcomputer through the resistance screen to form a feedback system. The singlechip acquires the position of the small ball, then the singlechip carries out operation by a program compiled in advance, the operation result is output to the steering engine, the connecting rod drives the platform to move together when the steering engine operates, and the platform generates an inclination angle in the direction of X, Y. The small ball moves on the platform according to the designated track under the control of the singlechip. The system realizes the functions of quickly finding the position and returning to the static state only under the angle adjustment control of the flat plate, can accurately reach the target position according to a specified route, can recover the balance state within 5 seconds after receiving a horizontal external force not more than 0.3N, and has high adaptability.
Drawings
Fig. 1 is an overall schematic diagram of a cricket system based on the position detection of the resistance screen according to the present invention;
FIG. 2 is a schematic structural view of the mechanical part of the present invention;
FIG. 3 is a system block diagram of the electrical portion;
FIG. 4 is a working schematic diagram;
FIG. 5 STC15W4K single-chip microcomputer;
FIG. 6 is a four wire resistive screen;
FIG. 7 is a diagram of the internal structure of a four-wire resistive screen;
FIG. 8 shows an XPT2046 chip;
FIG. 9 is a circuit diagram of a position acquisition unit;
FIG. 10 is a schematic diagram of an execution unit;
the MG996R steering engine of fig. 111;
FIG. 12 is a circuit diagram of a steering engine;
FIG. 13 is a circuit diagram of a human-computer interaction unit;
FIG. 14 is a main program flowchart;
FIG. 15 is a schematic diagram of cascade PID control.
Detailed Description
Cricket control system based on resistance screen position detects is shown in fig. 1, pellet (cricket) 1, resistance screen 2, support 3, power 4, microprocessor (singlechip) 5, steering wheel 6, connecting rod 7, chassis 8, tray 9. The cricket system experiment platform can be divided into a controller, a position acquisition unit and an execution unit according to functions, wherein the execution unit uses an MG996R steering engine and a driving circuit thereof, a man-machine interaction unit and a program design.
The electric part is as shown in figure 3, the singlechip is connected with the AD conversion chip, the singlechip is also connected with the electric output end of the resistance screen, and the position information of the small ball is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine controller, and the steering engine can be directly controlled by outputting PWM waves.
The single chip microcomputer is also connected with a keyboard and a display screen, manual setting can be carried out on the system through the keyboard, and the display screen can display information such as the positions of the small balls, so that the human-computer interaction function is realized.
Controller (single chip): the controller is used as the control core of the motor to play a vital role in the operation of the motor, and the system adopts an STC15W4K single chip microcomputer developed by a macrocrystalline technology company as shown in figure 5 as the controller. The main task of the control system is to receive data sent by an XPT2046 chip and output a PWM signal to a steering engine.
The device adopts an 8-bit enhanced MCS-51 kernel, the working frequency can reach 30MHZ at most, 5 16-bit heavy-duty initial timers T0-T4 are arranged in the device, 4 full-duplex one-step serial ports are further arranged, 8-channel high-speed 10-bit ADC, 8-path PWM (with dead zone control), 6-channel 15-bit special high-precision PWM and the like are arranged in the device, and the device mainly uses a timer, a hardware SPI and 15-bit high-precision PWM of an STC15 singlechip. Through configuration of hardware SPI parameters, the processor can conveniently realize communication with an XPT2046 chip and receive the position information of the small balls. STC15 timing function is powerful, can make the singlechip produce once at a certain interval time through setting up it and break, reads data and calculates and disposes PWM duty cycle in the interrupt. 6 paths of high-precision PWM of an STC15 single chip microcomputer can generate 6 output signals with the same frequency but different duty ratios, and an execution unit of the system is provided with two steering engines, so that two high-precision PWM channels are used. In the control process of the motors, the single chip microcomputer calculates the duty ratio for controlling each motor by executing a PID algorithm, changes the duty ratio of the corresponding PWM channel after the calculation is finished, and outputs the duty ratio to the steering engine.
The position acquisition unit comprises a four-wire resistance screen and an AD conversion chip, wherein the four-wire resistance screen and the AD conversion chip are used as the position acquisition unit, when the small ball rolls on the resistance screen, the pressure is generated on the resistance screen due to the weight of the small ball, so that the voltages of an X axis and a Y axis of the resistance screen are changed, and the AD conversion chip converts the voltages into digital quantities and sends the digital quantities to the singlechip as small ball position data.
The system uses a 17-inch 4-wire resistive screen as shown in FIG. 6, the peripheral dimension is 355mm multiplied by 288mm, the visual dimension is 341mm multiplied by 275mm, and the resolution is 1280 multiplied by 1024, thus completely meeting the requirement of the system on the position detection precision. The 4-wire resistive screen is structured as shown in fig. 7, the positive and negative ends of the X electrode and the Y electrode are respectively led out from the two ends by "conductive strips" (black strip-shaped parts in the figure), and the positions of the conductive strips of the X electrode and the Y electrode are mutually vertical, and four lines of the led-out X-, X +, Y-, and Y + are connected with the AD conversion chip.
The AD conversion chip uses an XPT2046 chip shown in figure 8, and the XPT2046 is a four-wire resistance screen control chip and supports a low-voltage I/O interface of 1.5V-5.5V. XPT2046 has a built-in 2.5V voltage source that can be used for auxiliary input, battery sensing and temperature sensing mode measurements. When not in use, the built-in voltage source may also be turned off to save power. The built-in voltage source can work at 2.7V power supply voltage at the lowest, and can detect battery voltage of 0V-6V at the same time. XPT2046 has characteristics such as low-power consumption (being less than 0.75mW when mains voltage is 2.7V), high speed (the highest sampling rate can reach 125KHz), high accuracy (12 bit AD conversion) and built-in chip drive, makes its best selection of locating resistance-type resistive screen control chip.
The circuit connection among the single chip microcomputer, the XPT2046 and the resistance screen is as shown in figure 9, and an SPI communication protocol is used for data transmission. This mode usually has one master and one or more slaves, requiring at least 4 wires. And 4 lines common to all devices based on the SPI communication protocol, which are MISO (master device data input), MOSI (master device data output), SCLK (clock), CS (chip select).
(1) MISO-MasterInputSlaveOutput, master device data input (slave device data output);
(2) MOSI-masteroutputslavelnput, master device data out (slave device data in);
(3) SCLK-SerialClock, a clock signal, generated by a master device;
(4) CS-ChipSelect, a slave enable signal, is controlled by the master.
CS is a control signal indicating whether the slave (XPT2046 chip) is selected by the master (single chip), and the master can only operate the slave effectively when the chip select signal is a predetermined enable signal (high or low). After selection, MISO, MOSI and SCLK lines are responsible for completing data transmission. The communication between the master device and the slave device is completed through data exchange, the SPI is a serial communication protocol, and data are transmitted on one line according to bits. SCLK provides the clock pulse, MISO, MOSI completes the data transfer based on this pulse. The data changes at the rising edge or the falling edge of the clock, and is read at the next falling edge or the rising edge, and one-bit data transmission is completed. Therefore, at least 8 clock signal changes (one for each of the upper and lower edges) are required to enable one transfer of 8 bits of data. Only the master device can control the SCLK signal line, and the slave device cannot control the signal line. The advantages of this transmission mode are: unlike ordinary serial communication, which continuously transmits at least 8 bits of data at a time, SPI allows transmission of data one bit at a time, even pauses, because the SCLK clock line is controlled by the master device and the slave device does not collect or transmit data when there are no clock transitions.
An execution unit: an execution unit is composed of the steering engine, the tray and the connecting rod shown in fig. 10, and the flat plate can reach any deflection angle by controlling the operation of the steering engine.
The MG996R steering engine shown in fig. 11 is a position servo driver and is suitable for control systems which need to be changed and maintained continuously. The working principle is as follows: and the control signal enters the signal modulation chip from a channel of the receiver to obtain the direct current bias voltage. A reference circuit is arranged in the voltage difference output circuit, a reference signal with the period of 20ms and the width of 1.5ms is generated, and the obtained direct current bias voltage is compared with the voltage of a potentiometer to obtain the voltage difference output. And finally, outputting the positive and negative voltage difference to a motor driving chip to determine the positive and negative rotation of the motor. When the rotating speed of the motor is constant, the potentiometer is driven to rotate through the cascade reduction gear, the voltage difference is 0, and the motor stops rotating.
The steering engine is connected with the circuit of the single chip microcomputer as shown in fig. 12, the control signal of the steering engine is a PWM signal, and the rotation angle of the steering engine is changed by using the change of the duty ratio. In practical application, the STC15W4K single chip microcomputer is adopted to simply and conveniently realize the PWM signal required by the steering engine control. Tests on MG996R steering engine control show that the steering engine control system works stably, and PWM duty ratio (positive pulse width of 0.5-2.5 ms) and steering angle (-90 DEG) linearity of the steering engine are good.
A human-computer interaction unit: the man-machine interaction module mainly comprises a 128 x 64 resolution OLED screen and a 4 x 4 matrix keyboard. The screen, the keyboard and the singlechip are in circuit connection as shown in fig. 13, the OLED screen is communicated with the singlechip through a serial interface and is matched with a 4 x 4 matrix keyboard, various operations such as dynamic graphic display, parameter modification, data storage and the like in a menu can be carried out, and a friendly man-machine interface is realized.
The main procedure is as follows: as shown in fig. 14, the system is powered on to complete initialization of the modules of the system, and then in the main loop, the matrix keyboard is scanned to determine whether the matrix keyboard is pressed down and change the position of the ball target, the position of the ball is detected in the timer, the algorithm is executed, and the PWM wave is output. The system initialization includes the timer of STC15, hardware SPI, two-way PWM output, and initialization of the OLED screen. After the system initialization is completed, the system enters a main loop to determine the target position through a proof button, so that an algorithm is executed, a PWM wave is output, the steering engine is adjusted, and the coordinates of the small ball and the instruction execution condition are displayed.
And (3) a control algorithm: when the structure and parameters of the controlled object cannot be completely mastered or an accurate mathematical model is not obtained, and other technologies of the control theory are difficult to adopt, the structure and parameters of the system controller must be determined by experience and field debugging, and the application of the PID control technology is most convenient. I.e., PID control techniques are best suited when a system and the controlled object are not completely known or system parameters cannot be obtained by effective measurement means.
The PID controller calculates the control quantity by using proportion, integral and differential according to the error of the system to control. The PID control algorithm based on the plate ball system consists of a small ball position error proportion P, a small ball position error differential D and a small ball position error integral I. And inputting the position error e (t) of the measuring ball, wherein the output quantity is the steering engine rotation angle.
e (t) is related to the output u (t) by:
u(t)＝kp[e(t)+1/TI∫e(t)dt+TD*de(t)/dt]
the upper and lower bounds of the integral in the equation are t and 0 respectively so its transfer function is:
G(s)＝U(s)/E(s)＝kp[1+1/(TI*s)+TD*s]
wherein kp is a proportionality coefficient; TI is an integration time constant; TD is the differential time constant.
The cascade PID control schematic diagram of the cricket system is shown in FIG. 15, taking the x direction as an example, the cricket system is adjusted by connecting an inner ring and an outer ring in parallel, so that the anti-interference performance of the cricket system is enhanced, the stability is enhanced, more variables can be controlled than a single controller, and the adaptive capacity of the cricket system is stronger.
The outer ring is a position ring, the input quantity is a small ball set position and a small ball current position, the output quantity is a small ball set speed, the inner ring is a speed ring, the input quantity is a small ball set speed and a small ball current speed, and the output quantity is a platform angle. And finally, converting the angle into a PWM wave with a corresponding control ratio to drive the steering engine.
The speed ring mainly plays a role of speed limitation, so that integration is not needed, and proportional and differential control links are responsible for controlling the speed, and simultaneously, the system stabilizing speed is accelerated, and the overshoot is reduced. The proportional and differential links of the position ring are used for controlling the speed of the small ball and reducing overshoot, and the positioning precision is mainly played by the integral link of the position ring.
The integral link of the position ring can increase the overshoot of the system while reducing the static error and improving the positioning precision, and is not beneficial to the stability of the system. Therefore, in practical application, an integral separation algorithm and an integral supersaturation prevention algorithm are needed to be used for the integral link of the position loop, and the integral link is added when the small ball moves to be close to the target position, and meanwhile, the integral range is limited.
From the above, it can be seen that:
x-direction velocity set value v' (t) and position error ex(t) a relationship of
v′(t)＝P1ex(t)+I1∫ex(t)dt+D1dex(t)/dt
ex(t)＝x′(t)-x(t)
Wherein P is1、I1、D1Is the proportional, integral, differential coefficient of the position loop, x' (t) is the target position, and x (t) is the current position.
x-direction plate angle alpha (t) and speed error ev(t) a relationship of
α(t)＝P2ev(t)+D2dev(t)/dt
ev(t)＝v′(t)-v(t)
Wherein P is2、D2Is the proportional, derivative coefficient of the velocity loop, and v (t) is the current velocity.
Claims (3)
1. A cricket control experiment system based on resistance screen position detection is characterized by comprising a resistance screen, a chassis and a two-dimensional steering engine control mechanical structure; the resistance screen is fixed at the horizontal position above the chassis, and the cricket moves on the plane of the resistance screen; the two-dimensional steering engine mechanical control structure comprises a ball joint, two guide rails, two connecting rods and two steering engines, wherein the ball joint is arranged in the center of the chassis; the chassis is rectangular, the transverse edge and the vertical edge are respectively provided with two guide rails, the driven ends of the two connecting rods are respectively driven by two independent steering engines, and the convex parts of the output ends of the two connecting rods respectively slide in the two guide rails; the device also comprises a singlechip and a power supply; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and directly controls the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the system is set through the keyboard, and the display screen displays the position information of the small balls, so that the human-computer interaction function is realized.
2. The cricket control experiment system based on the resistance screen position detection as claimed in claim 1, wherein the resistance screen is attached to a tray to jointly form a support platform of a small ball, and the resistance screen is used for acquiring position data of the small ball; when the steering engine is driven to swing, the convex parts of the output ends of the connecting rods are respectively positioned at the central positions of the two guide rails when the driving shaft of the steering engine is on a swinging vertical line, namely, the convex parts of the output ends of the connecting rods are relatively fixed at the middle points of two sides of the adjacent transverse edge and the vertical edge of the tray, the two connecting rods are respectively driven by the respective independent steering engines, and the inclination angles of the plane of the tray in the east-west two-dimensional direction and the south-north two-dimensional.
3. A cricket control experiment system based on resistance screen position detection is characterized by comprising a resistance screen, a chassis and a two-dimensional steering engine control mechanical structure; the resistance screen is fixed at the horizontal position above the chassis, and the cricket moves on the plane of the resistance screen; the two-dimensional steering engine mechanical control structure comprises a ball joint, two joint connecting rods and two steering engines, wherein the ball joint is arranged in the center of the chassis; the chassis is rectangular, the horizontal edge and the vertical edge are respectively provided with two flat strips, the two joint connecting rods are two connecting rods with middle joints and driven by a steering engine, the lower end connecting rod with the middle joints is respectively driven by two independent steering engines, and the output ends of the two upper end connecting rods with the middle joints are respectively fixed on fixed pin shafts arranged at the positions of the two flat strips and swing in the directions of the two flat strips; the device also comprises a singlechip and a power supply; the single chip microcomputer is connected with the AD conversion chip and then connected with the resistance screen, and the position information of the small balls is obtained from the resistance screen; the single chip microcomputer is connected with the steering engine and directly controls the steering engine; the single chip microcomputer is also connected with a keyboard and a display screen, the keyboard is used for setting the system, and the display screen displays the position information of the small balls, so that the human-computer interaction function is realized.
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