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©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,(,518055):AVRAtmega8,,LCD,MCBL3006S,,,:;;:TP242:AResearchonContestRobotControlSystemBasedonAVRWANGWen2bin,CHENWei(ShenzhenPolytechnicCollege,Shenzhen518055,Guangdong,China)Abstract:AnewdesignofcontestrobotcontrolsystembasedonAVRAtmega8wasputforward.Accord2ingtothecharacterofcontestrobot,themaincontrolunit,motordriveunit,sensedetectionunitandLCDdisplayunitwereintroduced.FurthermoretheservodriversystembasedonMCBL3006S,thelinetrackersen2sorsystemandtheobstacleavoidancesensorsystemwerepresentedindetail.Finallytheperformanceshowsthatthecontrolsystemisopen,simple,easyprogramming,intelligentandefficiency.Keywords:singlechipcomputer;robot;controlsystem:(1976-),,,Email:wenbin_wang@126.com,,AVR,1,,,,,,,,,,,,ARMPC104CPU,,,AVR,,,,,,,,,2,,,,,,,,,,852010407ELECTRICDRIVE2010Vol.40No.7©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,LCD1Fig.1Flowchartofrobotcontrolsystem2.1AVRAtmega8,LCDAtmega8AT90,RISC,,,FLASH,,3PWM,16PWM8A/D2.22,MCBL3006S,MCBL3006S,DSP,RS232,,,RS232,2,,255ASCII:(CR),,,,V10001000r/min,V-10001000r/min,V0Atmega8:printf(2V-1300\n);/32-13003/115200,,,,2Fig.2Illustrationofservomotorsnetworking,L298H,2,2,4AL298PWM,ATmega8PWM16,,,,,,2.3,,,I/O2.3.1,,2,,3ParallaxQTIR1,95,:AVR2010407©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,3Fig.3Principleofinfraredreflectionsensor2.3.24,Atmega8SIG,,,:uint16_tget_distant(void){uint16_tcount,cm,time;DDRC|=_BV(PC5);//PC5PORTC|=_BV(PC5);//_delay_us(10);PORTC&=_BV(PC5);DDRC&=_BV(PC5);//PC5while((PINC&_BV(PC5))==0);//PC5TCNT1=0;//10TCCR1B=0x02;//1,1/8while((PINC&_BV(PC5))!=0);//count=TCNT1;//cm=count/29.034;//,29.034s1cmreturncm;//cm,}4Fig.4Applicationdiagramofultrasonicsensor2.3.3,,Atmega8,,,,,RS232,CMUcamEltrotec2.3.4,,I/O,2.4LCDLCD,Atmega8,,4LCD5LCD8,2154LCDFig.542bitdatalineconnectiontoLCD362007robocon4,2,2,,2,,,,,(65)062010407,:AVR©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,,,5,,,,,,[1],.[M].:,2008.[2]SchmidtP,RehmT.NotchFilterTuningforResonantFre2quencyReductioninDualInertiaSystems[C]IndustryApplicationsConference,Thirty2fourthIASAnnualMeet2ing,ConferenceRecordofthe1999IEEE,1999:1730-1734.[3]LeeYoung2Min,KangJun2Koo,SulSeung2Ki.AccelerationFeedbackControlStrategyforImprovingRidingQualityofElevatorSystem[C]IndustryApplicationsConference,Thirty2fourthIASAnnualMeeting,ConferenceRecordofthe1999IEEE,1999:1375-1379.[4]YounkinGW.CompensatingStructuralDynamicsforSer2voDrivenIndustrialMachineswithAccelerationFeedback[C]/IndustryApplicationsConference,Thirty2ninthIASAnnualMeeting,ConferenceRecordofthe2004IEEE,2004:1881-1890.[5]EllisG,GaoZhiqiang.CuresforLow2frequencyMechanicalResonanceinIndustrialServoSystems[C]IndustryAp2plicationsConference,Thirty2sixthIASAnnualMeeting,ConferenceRecordofthe2001IEEE,2001:252-258.[6]KoJong2Sun,KimKyu2Gyeom,LeeYong2Jae,etal.Preci2sionSpeedControlofPMSMUsingDisturbanceObserverandSystemParameterCompensator[C]PowerElectron2icsSpecialistConference.PESC2003IEEE34thAnnual,2003:251-255.[7]ManabeS.CoefficientDiagramMethod[C]14thIFACSymposiumonAutomaticControlinAerospace,1998:199-210.[8]OcalO,BirA,TibkenB.DigitalDesignofCoefficientDia2gramMethod[C]AmericanControlConference,ACC,2009:2849-2854.:2009210223:2010202208(60),6AVRroboconFig.6ThecompetitionrobotofroboconbasedonAVR4AVR,,,[1],.[J].,2008,36(12):127-129.[2],.[J].,2008,36(4):111-113.[3],.[J].,2008,36(4):32-34.[4]FAULHABER[Z/OL]..[5],,.[M].:,2007.:2009211212:201020221156,:2010407