基于STM32的轮式水产监控车控制系统设计

Design of control system for wheeled aquatic monitoring vehicle based on STM32

针对目前水产养殖监控装备自动化水平低、设备简陋等问题,设计了1套以STM32单片机为核心的轮式水产监控车控制系统。该系统由降压模块、无线通信模块、驱动模块等组成,其中驱动模块完成了监控车的行走、操作平台的升降及机械臂的伸缩等功能。通过2.4G无线网络技术,将遥控推杆信号和按键信号发送至信号接收机,控制PWM波来改变驱动电机的电压值,实现了监控车的行走功能。利用霍尔传感器实时反馈监控车的行驶速度,采用专家PID算法进行车速调整,实现了监控车的平稳运行;利用电源正接状态和反接状态的相互切换,通过电动推杆实现了操作平台的升降功能;通过脉冲数调整步进电机的转速完成了机械臂的伸缩控制。现场测试结果表明:监控车行驶速度在8 cm/s至32 cm/s区间内电机转速相对稳定,操作平台升降高度能够达到1.2 m,机械臂向外伸出能够达到1.5 m,监控车控制系统性能稳定可靠,达到了设计要求。

Aiming at the low automation level and simple equipment of aquaculture monitoring equipment,a control system based on STM32 single chip microcomputer was designed on a wheeled aquatic monitoring vehicle.The system consisted of step-down module,wireless communication module and driver module.The driving module included the walking of the monitoring vehicle,the lifting of the operating platform and the telescopic functions of the mechanical arm.The signals of the remote control push rod and button were send to the signal receiver through 2.4G wireless network to control PWM wave resulting in changes of the voltage of the driving motor,and thus realized the walking function of the monitoring car.Hall sensor was used to monitor the vehicle speed in real time,and expert PID algorithm was used to adjust the vehicle speed to realize the smooth running of the monitoring vehicle.The lifting function of the operating platform was realized by the electric push rod by switching between the power supply state and the reverse state.The telescopic control of the manipulator is completed through adjusting the speed of the stepping motor with pulse number.The results of the field tests demonstrated that the motor speed of the monitoring vehicle was relatively stable within the range of 8 cm/s to 32 cm/s.The lifting height of the operating platform can reach 1.2 m,and the mechanical arm can reach 1.5 m.The performance of the control system of the monitoring vehicle was stable and reliable,and met the design requirements.