自平衡自动送餐车控制系统研究

The Control System of Self- balancing Automated Food Conveyor

该系统由12V大容量锂电池提供能量来源,采用型号为STC12C5A60S2的MCU作为主控单元,选用姿态传感器获取送餐车的倾斜角度和倾斜角速度信息。送餐车的直流电机MAXON 139885的驱动电路主要由LM298N组成,利用速度给定值与两个光电编码器测得的较大值的偏差作为增量式PID的控制输入。使用3个RPR220和1个LM339M构建3路检测电路,得到可靠的路线信息。通过两个E18-D80NK可测得前方不同距离的障碍物。引入由LC7461和VS1838构成的红外遥控进行控制,用LCD YB12864-ZA显示送餐车的相关信息。

The energy source of the system is provided by 12 V lithium battery with large capacity. The system is mainly controlled by MCU STC12C5A60S2. Choosing attitude sensors for obtaining tilt angle and tilt angle velocity information of the conveyor.Dc motor MAXON 139885 driven circuit is mainly composed of LM298 N. As the deviation,the difference between with speed given and the bigger wheel speed,measured by two photoelectric encoder,is input to incremental PID controller. Three RPR220 and one LM339 M are built three- road detection circuits,with the circuits reliable route information can be got. Two E18- D80 NK can measure different distance obstacles in front of. The system introduces the LC7461 and VS1838 to make the infrared control. The LCD YB12864- ZA display some information of the conveyor.