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摘要

本設(shè)計(jì)采用單片機(jī)AT89C55作為懸掛運(yùn)動(dòng)的檢測(cè)和控制核心。采用四只反射式紅外傳感器檢測(cè)板上的黑色曲線，控制物體沿黑線運(yùn)動(dòng)。利用可編程器件GAL16V8實(shí)現(xiàn)的脈沖分配器和大功率驅(qū)動(dòng)電路L298共同組成步進(jìn)電機(jī)的驅(qū)動(dòng)電路，結(jié)合軟件控制電機(jī)的轉(zhuǎn)向和轉(zhuǎn)速?；诳煽康挠布O(shè)計(jì)和穩(wěn)定精確的軟件算法，實(shí)現(xiàn)了物體在斜板上作圓周運(yùn)動(dòng)、定點(diǎn)運(yùn)動(dòng)和畫板上標(biāo)出的任意曲線運(yùn)動(dòng)。LCD320240作為液晶顯示界面容量大，顯示內(nèi)容豐富，通過與鍵盤結(jié)合設(shè)置坐標(biāo)點(diǎn)和選擇運(yùn)動(dòng)方式，并能直觀顯示畫筆所在的位置，具有良好的人機(jī)交互功能。系統(tǒng)增加了由AT89C51控制的無線數(shù)據(jù)傳輸功能實(shí)現(xiàn)了對(duì)系統(tǒng)的遠(yuǎn)程控制，并采用雙口RAM IDT7132將主控制CPU AT89C55和AT89C51進(jìn)行隔離，保證數(shù)據(jù)傳輸?shù)姆€(wěn)定性和可靠性。

關(guān)鍵詞：步進(jìn)電機(jī)，紅外檢測(cè)，雙口RAM

Abstract

In this design, microcomputer AT89C55 was applied as the control center. Four reflecting-infrared sensors were used to detect black lines and to keep the object moving along the black line. Stepping motors’s turning and rotating speed were controlled by the drive circuit, which are constituted by GAL16V8 and L298. Based on the reliable hardware design and the precise software algorithm, the object has successfully fulfilled circular movements, movements on a certain point and arbitrary curvy movements shown on the board. In order to make the design more intelligent, LCD320240 was employed as display interface, indicating the location of the painting brush intuitionistically. By combining the keyboard and DS1302 LCD, this design has also achieved coordinate points setting and movement manner selecting. The additional function of radio data transmission which is controlled by AT89C51,made available the long-distance control of the system. CPU AT89C55 and AT89C51 are separated by IDT7132 to ensure data stability and security.

Key word: stepping motor, reflecting-infrared sensors, dual-port RAM


目 錄

1. 系統(tǒng)方案論證與比較 …………………………………………………………………4
1.1 設(shè)計(jì)思路 ……………………………………………………………………………4
1.2 方案選擇與論證………………………………………………………………………4
1.2.1 總體方案選擇與論證 …………………………………………………………4
1.2.2 各模塊方案選擇與論證 ………………………………………………………5
1.2.2.1 控制器選擇與論證 …………………………………………………………5
1.2.2.2 電機(jī)驅(qū)動(dòng)方案的選擇與論證 ………………………………………………5
1.2.2.3黑線檢測(cè)方案的選擇與論證 ………………………………………………6
1.2.2.4 鍵盤方案的選擇與論證 ……………………………………………………6
1.2.2.5 顯示方案的選擇和論證 ……………………………………………………7
1.2.2.6無線數(shù)據(jù)傳輸方案的選擇與論證 …………………………………………7
1.3系統(tǒng)各模塊的最終方案 ……………………………………………………………7
2. 系統(tǒng)的硬件設(shè)計(jì)與實(shí)現(xiàn)…………………………………………………………………8
2.1系統(tǒng)硬件的基本組成部分……………………………………………………………8
2.2 主要單元電路的設(shè)計(jì) ………………………………………………………………8
2.2.1 單片機(jī)控制電路…………………………………………………………………8
2.2.2 電機(jī)驅(qū)動(dòng)電路……………………………………………………………………9
2.2.3 黑線檢測(cè)電路……………………………………………………………………10
2.2.4 鍵盤/顯示電路 …………………………………………………………………11
2.2.5 無線發(fā)射接收電路………………………………………………………………12
2.2.6 自制電源電路……………………………………………………………………13
3. 系統(tǒng)的理論分析與計(jì)算…………………………………………………………………14
3.1物體到達(dá)設(shè)定坐標(biāo)點(diǎn)過程的理論分析與計(jì)算………………………………………14
3.2 圓周運(yùn)動(dòng)理論分析與計(jì)算 …………………………………………………………15
3.3 黑線檢測(cè)理論分析 …………………………………………………………………17
4. 系統(tǒng)的軟件設(shè)計(jì)…………………………………………………………………………18
4.1系統(tǒng)主程序流程圖……………………………………………………………………18
4.2 鍵盤子程序 ……………………………………………………………………… 20
4.3 指定坐標(biāo)運(yùn)動(dòng)子程序………………………………………………………………20
4.4黑線檢測(cè)子程序 ……………………………………………………………………20
5. 系統(tǒng)測(cè)試與分析 ………………………………………………………………………22
5.1 測(cè)試儀器 …………………………………………………………………………22
5.2 測(cè)試方案、數(shù)據(jù)及結(jié)果分析 ……………………………………………………23
5.2.1 自行設(shè)定運(yùn)動(dòng)測(cè)試 …………………………………………………………23
5.2.2 圓周運(yùn)動(dòng)測(cè)試…………………………………………………………………23
5.2.3 指定坐標(biāo)運(yùn)動(dòng)測(cè)試……………………………………………………………24
5.2.4 黑線檢測(cè)測(cè)試…………………………………………………………………25
6. 結(jié)束語 ………………………………………………………………………………25
參考文獻(xiàn) …………………………………………………………………………………25
附錄1：主要元器件清單 ………………………………………………………………26
附錄2 系統(tǒng)原理圖 …………..