基于红外遥控的多关节波动推进机器鱼的控制系统设计

Control system for multi-joint undulatory propulsion robofish using infrared remote control

介绍了红外遥控器的编码原理及解码方法,以及用一个定时计数器实现8路舵机驱动的分时控制和上下位机的通讯方法,给出了以ATmega16L为核心的控制系统的硬件电路设计.简单阐述了多关节波动推进机器鱼的运动原理,最后给出了基于C语言的部分源程序.实验表明,控制系统具有可行性和可靠性.

The coding/decoding method for infrared remote controller was introduced. A time-sharing control was proposed to achieve eight-path servo driving with timing counter. The communication was completed by using upper and lower MCUs. The hardware design of control system was given based on ATmegal6L. The motion principles were briefly described. Finally, part of the source program running on C language was given. Experimental results confirmed the feasibility and reliability of this control system.