基于安卓手机的无线随动控制系统设计

Design of Wireless Servo-control System Based on Android Phone

无线随动控制在虚拟现实,运动捕获等领域有重要应用。设计了一种基于安卓手机的角位置无线随动控制系统。采用安卓手机内部的微机电(MEMS)传感器感知物体旋转的角速度并作为该系统的控制指令,蓝牙模块HC-06作为无线通信媒介,跟随端利用STC125A60S单片机结合积分分离式的PID算法控制两相混合式步进电机做跟随转动。实验结果表明,该随动控制系统运行稳定,角位置跟随误差<0.5°。

Wireless servo-control has important application in fields of virtual reality,motion capture and so on. Design a wireless servo-control system of angular velocity based on Android phone. Use the micro-electro-mechanical sensor inside android phone to sense object’s rotating angular velocity that as the control signal,bluetooth module HC-06 as the wireless communication medium,and STC125A60 S SCM to control following rotation of the two-phase hybrid stepping motor in follow-up end with the PID algorithm of integral separation. The experimental results show that this servo-control system works stably,and the angular position following error is less than 0. 5°.