【摘要】 为了降低成本,节省人力,设计出一种自动台球机运球装置,通过对自动台球机运球装置运送原理的分析,完成其预定的放球动作,需要对其运动轨迹精确控制,系统以步进电机为动力来源,以TB6560AHQ为步进电机驱动器,使用测速模块测量下位电机的转速,使用测转角模块测量上位电机的转角,分别形成闭环控制,测转角模块由可变电阻与AD5320芯片组成,采用增量式PID算法优化步进电机输出性能,采用线性插值原理精确获得转角值,实现了台球的精确运输。更多还原

【Abstract】 In order to reduce the cost and save manpower,an automatic billiard ball dribbling device is designed. Through the analysis of the principle of the automatic billiard machine dribble transporting device,the scheduled ball-removing action is completed,and the movement track needs to be precisely controlled. The motor is the power source. The TB6560 AHQ is used as the stepping motor driver. The speed measurement module is used to measure the rotation speed of the lower motor. The side rotation angle module is used to measure the rotation angle of the upper motor. The closed loop control and the side rotation angle module are respectively composed of the variable resistor and the AD5320 chip. The incremental PID algorithm is used to optimize the output performance of the stepping motor. The linear difference principle is used to accurately obtain the corner value,which realizes the accurate transportation of billiards.更多还原