微型足球机器人小车控制系统软硬件设计.pdfVIP

微型足球机器人小车控制系统软硬件设计 摘 要 机器人足球已经是风靡全球的机器人竞赛活动。与世界足球运动一样，具有 明确比赛目标和比赛规则。它集科学研究、教育和娱乐于一体，它是体育与高科 技结合的产物，也是高技术平台的公平竞争。既是展示高科技水平的生动窗口， 又极具观赏性。本文主要内容为一种基于 C8051 单片机的微型足球机器人控制 系统设计。 在此机器人小车控制系统中，单片机作为控制器从上位机得到指令，输出控 制信号给执行器即直流电机，从而改变被控对象小车的运动，通过测速及鉴相环 节将电机的转速和转向信息反馈给单片机，这样构成了一个闭环控制系统。 在这个闭环控制系统中单片机生成 PWM 波，通过驱动器 L298 控制两个直 流伺服电机的运转，两个电机分别带动机器人的两个驱动轮改变小车的运动状 态，而通过编码器获得电机的运行信息，并反馈回单片机，这样就实现了对机器 人的闭环控制。 关键词：C8051,L298, 足球机器人, 闭环控制, 控制器 I 微型足球机器人小车控制系统软硬件设计 Abstract Robot football becomes popular a global robot contest an activity. Exercise with world football similar, have explicit game target and game rule. It gathers science research, education and amusement at the integral whole and it is the outcome that the athletics combines with high technology, is also the fair competition of high technique terrace. Since is the vivid window way which displays high technology level, have to appreciate sex very much again. The this text main contents is the system design of the robot control of miniature football which introduces 1 kind a single slice machine according to the C8051. In this robot the small car the control the system, the single slice machine is a controller to get instruction from the place of honor machine and output control signal to give performance machine namely direct current electrical engineering, change to be controlled an exercise of the object small car thus, pass to measure soon and Jean mutually link turn of electrical engineering soon with change direction information feedback machine to the single slice, so constituted 1 to shut a wreath control system. Single slice in this shut the wreath control the system PWM wave with born machine, control two operations of electrical engineering’s with servo direct current thro