逢甲大學自動控制工程學系專題製作專題論文

論車Car-LikeMobileRobotDesign劉精福年老兩年來不論領了見勵老領力i論PIC16F877車car-likerobot理論車不行車利行了車量流車力PIC令來度PWMpulsewidthmodulation度來利EncoderIC8254數來數數來iiAbstractThepaperdescribesamicroprocessorPIC16F877basedoncontrolkernelforthecar-likerobot,itcontainsthevehiclestructureandthegearwithcontrollability.Theconceptofdesignistheusefultrainingforthispaper.Thedcmotoristhepowerofthesmallcar-likerobot,andwecontrolitforwardorbackwardwiththemicroprocessor.Ontheotherhand,thespeedcontrolisreachedbyPWM(pulsewidthmodulation).Weregularthesmallcar-likerobotwiththeencoderofthedcservermotorandcomputetheencoredingsignalwithIC8254.iii錄iiiiii錄iv錄vi錄vii說viii論11-111-2132-1理32-2流42-2-142-2-252-2-352-3流路52-4邏72-5PWM112-6零說122-6-1PIC列122-6-2PIC132-6-38254數162-6-4路17iv流193.1193.2203.3度量203.420論來234.1論234.2來23參24錄26v錄2.1流42.2MOSFETH-BRIDGE62.3(a)72.3(b)H-BRIDGE路82.3(c)路路92.3(d)路102.4PWM112.516F87XPWM122.6PIC132.7CPUI/O183.1流193.2流203.3度量流213.4流22vi錄2.172.2邏82.3ADCON1142.4TIMER15vii說Φ度度aΙ流流Ν數viii論1-1都力力省力省來不率了類利不不領類率念論車精車便行車料了車不類見例裂車了車降利車行1-2車車類說車裡來論兩領1車車了不不了不若來說了車輪不例行見六[1][2]來說行行度不路車度路不行[3]利Rover來料[4]不P3兩路力狀量不不易不都車都車車了2類1820年流流立了1830年拉了切理論力來流流易利2-1理流(Stator)(Rotor)兩2.1流ΦΙ理論Φ流aΙ路力aFΙΦ≡λ度Φ流流aΙ度λ路流aΙ來力路32.1流力路ΦΚΙ=Τa(2.1)bλΝ=Κ路度ΦaΙ流路流bλ路數ΝΚ2.1流度來2-2流流(1)(2)(3)量[7]2-2-1不路降不良率串率率降aaRΙ42-2-2不兩來降率2-2-3流量度率2-3流路H-Bridge車車來說H-Bridge路不路H-Bridge類POWERMOSFET來ON/OFF切1切2DSV)(ONDSR3說THV52.2MOSFETH-BRIDGE[7]61POWERMOSFET輪POWERMOSFET流2RC路來tvdd參數2.1不ON路[6]1Q2Q3Q4Q2.11Q2Q3Q4QONOFFONOFFOFFONOFFONOFFOFFOFFOFF2-4邏邏H-Bridge路來CPUH-Bridge路PWM2.3(a)2.3(a)[9]7FRPWMG1～G42.3(b)路FRPWM來狀2.3(b)H-BRIDGE路FRHi路2.2路路路2.3(c)2.2邏FR1F1R000010100101110082.3(c)路路[10]路力CPU(PHOTO-COUPLE)來4N25流流74LS08FΙOLΙ流4N2574LS07流mA4mA30()mARVVVOLDCCF231504.02.151≅−−=−−=Ι92.3(d)路[10]102-5PWMPulseWidthModulationPWM利highlowPWM利highlow切來DutyCycle度流2-4PWM[9]2-4利數路PWM路LM555路counter74HC4040數clock74HC4040漣數2-4PWM不力PWM來PWMPICPWM兩Compare2-5Compare理度DutyCycleCCPRxTimer來Compare理PeriodPRTimerCCPRxPRTimer理11不PWM行列2-516F87XPWM[16]2-6零說2-6-1PIC列PIC16F87X列MicrochipRISI8KFlash5I/OPORT14[12]PIC16F877¾RISICPU¾8¾8K×14(Flash)¾368Bytes料256BytesEEPROM料¾5I/OPORT(ABCDE)¾28TIMER/COUNTER(TIMER0TIMER2)116TIMER/COUNTER(TIMER1)¾14理122-6PIC2-6-2PIC2-6-2-1I/OPORT數路連行路都不不兩路了不來狀來讀狀I/O了了省數I/O都來不I/O了來I/O了來論I/O13aPORTA六PORTAA/D類參Timer0SSP若PORTAI/OPORTAbitADCON12.3bPORTEI/ORETRISE不02I/O了A/D行若PORTEI/OADCON1I/O狀2.32.3ADCON1[13]142-6-2-2都累數不流累來若數(Counter)不論累來降(FallingEdge)來(RisingEdge)來兩都PIC累數累數累TIMER0TIMER1TIMER2累PR2PR2(PeriodRegister)2.4TIMER[16]152-6-38254數8254數8254率8MHz8254立數數3CLKGATEOUT數16數OUT串數CLK32[14]z率8MHzz8254讀數讀狀數8254利來數數8254六0InterruptonTerminalCount1HardwareRetriggerableOne-Shot2RateGenerator3SquareWaveMode4SoftwareTriggeredStrobe5HardwareTriggeredStrobe0數010數OUTL2數若GATEHCLKHL數1若GATEL數3數了OUTH數若數數數數8254數16數讀數數讀162-6-4路2.7了路CPUPIC率20MHz了便令4MHz來CPU路路1R3C172.7CPUI/O[9][16]18流PIC16F877來列流便3-13.1流度量3.1度量度4度193-2數數量I/O狀CPUTIMER03s8254PWMEND3.2流3-3度量8254Modeα利8254COUNTER0COUNTER1來數[8]Tnf=60×=KfRPMnT數K數20度量3.3度量流CPU3行度輪度輪輪PWM輪PWM2輪DUTYCYCLE不2輪度VV≅NOENDYES輪DUTYCYCLEYESVV≅輪DUTYCYCLEYES213-43.4流CPU8254來數行車令CCP1DUTYCYCLE=200CCP2DUTYCYCLE=0NOYESEND22論4-1論車練了更力來益路了類路數路度4-2車行行若車車識雷FUZZYSYSTEM類更23參[1]WeidemannH.J.,PfeifferF.andEltzeJ.,TheSix-LeggedTUMWalkingRobot,ProceedingsoftheIEEE/RSJ/GIInternationalConferenceonIntelligentRobotsandSystems,Vol.2,pp.1026~1033,1994.[2]BajdT.andKarcnikT.,UnstableStatesinFour-leggedLocomotion,ProceedingsoftheIEEE/RSJ/GIInternationalConferenceonIntelligentRobotsandSystems,Vol.2,pp.1019~1025,1994.[3]MoriH.,KotaniS.andKiyohiroN.,ARoboticTravelAidHITOMI,ProceedingsoftheIEEE/RSJ/GIInternationalConferenceonIntelligentRobotsandSystems,Vol.3,pp.1716~1723,1994.[4]HayatiS.,TheRocky7RoverAMarsSciencecraftPrototype,JetPropilisionLaboratory,CaliforniaInstituteofTechnology,InternationalconferenceonRoboticsandAutomation,April1997.[5]MartinezM.A.,GonzalezJ.F.andMartinezJ.L.,TheDSPFrequencySonarConfigurationoftheRAM-2MobileRobot,IEEEInternationalConferenceonRoboticandAutomation,Vol.10,pp.113~119,1997.[6]DC路1986[7]復2003[8]林量量pp.417~4221996[9]車力立論2001[10]車立論200224[11]NationalSemiconductorCorporation,LinearDatabook1,2,3,1998[12]NationalSemiconductorCorporation,DataConversion/AcquisitionDataBook,1984[13]龍李PIC16F87X2000[14]Intel,8254ProgrammableIntervalTimer,1993.[15]I/Opp.49~1291989年9[16]盧林PIC16F87X理精2001年25錄A邏路BH26C路D車27