摘要
基于最小系统数学模型,实现了蓝牙遥控器界面在不同安卓手机中的智能小车控制,在重力感应遥控功能中,小车的稳定受遥控距离在空旷的空间中能达40m,超过40 m后传输稳定性变差。在通过手机重力感应遥控智能小车速度中,小车在手机倾斜角-20°~20°时,单片机输出的PWM占空比较低,导致不能驱动直流电动机的转动,小车静止不动。而当手机遥控器倾斜角绝对值大于20°时,小车受遥控器重力感应控制。小车车轮电动机速度与倾斜角的绝对值成正比关系,倾斜角越小,小车电动机速度值也越大。而当手机慢慢向前倾斜的同时也让手机向右端倾斜,此时小车向前的速度慢慢增大的同时,小车也有向右的速度,此时小车运动轨迹是一某点为圆心顺时针转圈,而APP端显示的速度值左边比右边大。经过测试达到了系统设计的要求。
Based on the minimum system mathematical model,remote control of an intelligent car is implemented with the interfaces of different Android bluetooth controllers. In the gravity sensing function of remote control,when the remote control distance is less than 40 m the stability of the car is reached,in empty space; but when more than 40 m transmission stability cannot be guaranteed. If the gravity sensing function of remote control is realized by phone accelerometer,then DC motor rotation can’t be driven and the car is stationary when angle of can and phone is in the range of-20° ~ 20°. The reason is that the single chip microcomputer output of the PWM duty cycle is lower. When the angle is not in the range,the car can be controlled well. The car wheel motor speed is directly proportional to the absolute value of the angle,and the larger the angle is,the faster the speed value of the car motor. When mobile phone slowly leans forward,the car forward speed increases slowly,at the same time,the car also turns to the right with a clockwise direction. Furthermore,the speed values displayed on the APP is that the left is larger than the right. The test was designed to meet the requirements of the system design.
作者
霍国义
张爱滑
HUO Guoyi;ZHANG Aihua(Department of Basic Education, Henan Vocational College of Water Conservancy and Environment, Zhengzhou 450011 , China;Department of Physics, Zhongbei University, Taiyuan 0300511 , China)
出处
《实验室研究与探索》
CAS
北大核心
2018年第4期21-25,共5页
Research and Exploration In Laboratory
基金
国家自然科学基金青年基金(101656234)
关键词
最小系统
数学模型
蓝牙遥控
倾斜
minimum system
mathematical model
bluetooth remote control
tilt
