4轮循迹小车过弯性能优化研究  

Research on Cornering Performance Optimization of Four-wheel Tracking Trolley

作　　者：谢智阳[1,2] 谭勇 XIE Zhi-yang;TAN Yong(Heyuan Polytechnic,Heyuan 517000;Heyuan Industrial Robot Technology Application Engineering Technology Research Center,Heyuan 51700,China)

机构地区：[1]河源职业技术学院,广东河源517000 [2]河源市工业机器人技术应用工程技术研究中心,广东河源517000

出　　处：《汽车电器》2020年第7期18-20,24,共4页Auto Electric Parts

基　　金：广东省高职教育教学改革研究与实践项目(GDJG2019333);河源职业技术学院教改项目(2018JK05)。

摘　　要：为研究4轮循迹小车的过弯性能,以Arduino Uno单片机为控制核心,结合黑皮电机、5路循迹模块等主要部件,设计了4轮差速循迹小车;实验研究了PWM驱动频率、传感器安装距离对过弯性能的影响。实验结果表明,驱动黑皮电机的频率过高,电机运行的连续性好,但带负载能力差,脉冲频率低则电机运行顿挫;传感器安装距离过短,小车响应过快,安装距离过长,小车响应延迟。经多次实验测试,得出本文所设计的小车的最佳PWM驱动频率为490Hz,循迹传感器距离前轮的最优安装距离为12cm。In order to study the cornering performance of a four-wheeled tracking trolley,a four-wheeled differential tracking trolley is designed with Arduino Uno single-chip microcomputer as the control core,combined with black leather motor,five-way tracking module and other main components.The influence of PWM driving frequency and sensor installation distance on cornering are studied.The experimental results show that the frequency of driving the black-skinned motor is too high,and the motor runs continuously,but with poor load capacity and low pulse frequency,the motor runs frustrated;the sensor installation distance is too short,the cart responds too fast,the installation distance is too long,and the cart response is delayed.After several experimental tests,the optimal PWM drive frequency of the trolley designed in this paper is 490 Hz,and the optimal installation distance of the tracking sensor from the front wheel is 12 cm.

关 键 词：Arduino单片机 PWM 差速转向 循迹小车 

分 类 号：U463.6[机械工程—车辆工程]