Half-size MicroMouse motion control system

Abstract

A half-size MicroMouse motion control system belongs to the technical field of automatic control. An STM32 microcontroller serves as a processing unit, common drag cup motors serve as power devices, magnetic encoders serve as speed measuring devices, and a half-size MicroMouse is driven to move smoothly via a PID feedback control algorithm. The control system comprises the processor, left and right controllers, the left and right drag cup motors and the left and right magnetic-coding speed measuring devices. The processor sends expected speeds to the left and right controllers respectively, the controllers adjust the rotating speeds of the motors via feedback of the speed measuring devices, and the expected speeds are achieved. Non-contact type speed measurement via the magnetic encoders is used, the space is saved, and the cost and resistance are reduced; and the adaptive parameter PID control algorithm is designed to solve the problem that the small drag cup motors are insufficient in power.

Description

【Technical field】 [0001] The invention relates to a half-size computer mouse motion control system, which belongs to the technical field of automatic control. 【Background technique】 [0002] A computer mouse is a robot that can move autonomously using embedded controllers, sensors and power components. It can automatically search and memorize the wall information in the maze through the set algorithm, and finally find the optimal sprint path from the start point to the end point. The traditional computer mouse competition maze is a maze composed of 16×16 square cells, and the size of each square is 18×18cm. The half-size computer mouse is a reduced version of the traditional computer mouse. The size of the maze grid is 9×9cm, and the maximum number of grids is 32×32. figure 2 It is a standard 32×25 half-size computer mouse maze. [0003] Due to its small size, half-size computer mice are more difficult to design than traditional computer mice. Both the size of the device...

AI Technical Summary

Problems solved by technology

[0010] Due to the high difficulty in the development of half-size computer mice, domestic research on computer mice is still in the state of classical computer mice. Many companies or institutions have developed classical computer mice with excellent performance, but no half-size computer mice have yet appeared. Research results

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