自动台球机运球轨迹精确控制系统的设计  

Design of Precise Control System for Automatic Runing Ball Track

作　　者：王安敏[1] 刘言昭 WANG Anmin;LIU Yanzhao(College of Electrochannical Engineering,Qingdao University of Sicence and Technology,Qingdao 266061)

机构地区：[1]青岛科技大学机电工程学院

出　　处：《计算机与数字工程》2019年第8期1947-1950,1955,共5页Computer & Digital Engineering

摘　　要：为了降低成本,节省人力,设计出一种自动台球机运球装置,通过对自动台球机运球装置运送原理的分析,完成其预定的放球动作,需要对其运动轨迹精确控制,系统以步进电机为动力来源,以TB6560AHQ为步进电机驱动器,使用测速模块测量下位电机的转速,使用测转角模块测量上位电机的转角,分别形成闭环控制,测转角模块由可变电阻与AD5320?芯片组成,采用增量式PID算法优化步进电机输出性能,采用线性插值原理精确获得转角值,实现了台球的精确运输。In order to reduce the cost and save manpower,an automatic billiard ball dribbling device is designed.Through the analysis of the principle of the automatic billiard machine dribble transporting device,the scheduled ball-removing action is completed,and the movement track needs to be precisely controlled.The motor is the power source.The TB6560AHQ is used as the stepping motor driver.The speed measurement module is used to measure the rotation speed of the lower motor.The side rotation angle module is used to measure the rotation angle of the upper motor.The closed loop control and the side rotation angle module are respectively composed of the variable resistor and the AD5320 chip.The incremental PID algorithm is used to optimize the output performance of the stepping motor.The linear difference principle is used to accurately obtain the corner value,which realizes the accurate transportation of billiards.

关 键 词：TB6560 步进电机驱动器 运球装置 运动轨迹 STC89C52 

分 类 号：TN06[电子电信—物理电子学]