基于PID的自动台球机安全运球控制系统的设计  

Design of Automatic Billiard Machine Safety Dribble Control System Based on PID

作　　者：耿云飞 程媛 GENG Yunfei;CHENG Yuan(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,青岛266061

出　　处：《计算机与数字工程》2021年第7期1320-1324,共5页Computer & Digital Engineering

摘　　要：为解决打台球收球、摆球的繁琐性,提高台球机娱乐性能,设计一种可以自动实现台球摆送台球的装置,为实现台球可以安全准确地将台球运至摆球位置,以STM32F407作为系统控制核心,以MC442两相数字式步进驱动器作为步进电机驱动器,驱动装置运行,并使用PID算法控制步进电机实现加减速缩短运球时间,并增添蜂鸣器作为安全预警器,通过调整PWM控制步进电机进行点动,并伴随预警器提醒人们避让保持运行轨迹的畅通,在位置关键点设置接近开关解决步进电机失步的问题保证运球的精确度。In order to solve the combersome of playing billiards to receive the ball,swing the ball,improve billiards entertain⁃ment machine performance,a kind of can automatically send billiards billiards pendulum device is designed,to realize accurate sending billiards billiards can be safety to swing the ball position,with STM32F407 as the control core system,digital MC442 two phase stepper drives as a stepper motor drives,driving device,operation and PID algorithm is used to control stepping motor to real⁃ize deceleration shorter dribbling,and a buzzer is added as safety warning device,by adjusting the PWM control stepping motor point move,and with an indicator to remind people to avoid keep the path clear.The proximity switch is set at the key point of posi⁃tion to solve the problem of stepping motor out of step and ensure the accuracy of dribbling.

关 键 词：MC442 步进电机驱动器 PID STM32407 

分 类 号：TN06[电子电信—物理电子学]