有轨正交行走车辆控制系统设计  

Design of Control System for Rail Orthogonal Vehicle

作　　者：金雪虎 刘武发[1] JIN Xue-hu;LIU Wu-fa(School of Mechanical Engineering,Industrial Internet of Things Institute Zhengzhou University,He’nan Zhengzhou450001,China)

机构地区：[1]郑州大学机械工程学院工业物联网研究所

出　　处：《机械设计与制造》2020年第2期149-152,157,共5页Machinery Design & Manufacture

摘　　要：基于物流运输业的需求,提出并设计了有轨正交行走车辆ROV结构,以及模块化的ROV控制系统硬件和软件。小车通过电动推杆的提升或下推一个方向的行走轮系,实现了ROV小车的有轨正交行走。根据STM32F429 ARM微控制器所设计的模块化控制系统硬件具有WiFi无线通讯、RFID导航定位、无刷直流电机控制、电动推杆控制、红外测距传感器避障等功能。模块化控制系统软件满足ROV控制功能需要。通过试验获得的PWM占空比与电机转速对应关系的PWM波控制寄存器的值,实现无刷直流电机PWM速度便捷控制。红外测距传感器模拟电压量A/D转换值寄存器映射方法实现了测距值共享的ROV避障。初步试验结果表明ROV小车结构可行,模块化控制系统软硬件实现了ROV基本控制功能。It proposes and designs the structure of Rail orthogonal vehicle(ROV),as well as designs the modularized hardware and software of ROV control system based on the demand of logistics industry.The ROV can achieve the orthogonal walking through the electric putter to lift or push down one direction of the walking wheel system.The modularized control system hardware designed by STM32F429 ARM microcontroller consist of WiFi wireless communication,RFID navigation and positioning,brushless DC motor control,electric putter control,infrared rangefinder sensor obstacle avoidance and other functions.The modularized control system software can meet the needs of the ROV control function.The PWM wave control register values with the corresponding relation between the PWM duty cycle and the motor speed are obtained through the experiment,which can realize the PWM speed control of the brushless DC motor conveniently.The register mapping method of simulating voltage A/D conversion value obtained by infrared ranging sensor is used to achieve the ROV obstacle avoidance of the shared values.The preliminary test results show that the structure of ROV car is feasible and the modularized hardware and software of control system can realize the basic control function of ROV.

关 键 词：有轨正交行走车辆 ARM微控制器 PWM控制 无刷直流电机 模块化 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]