【摘要】 为解决农业车在不同地形(尤其是在山地)的作业问题,设计了一款基于STM32F103ZET6单片机的多功能遥控农业车,可配套作为运输车、割草机及打药机等设备的动力底盘。智能遥控农业车采用遥控履带底盘,主要包括底盘机架、控制两侧行走的第一驱动电机和第二驱动电机。农业车通过内部程序和外部接收器进行遥控操控运动,保证在不同地形实现车的多角度运动。遥控农业车以STM32F103ZET6为核心处理器,将遥控器接收机与单片机相连,通过输入捕获程序获取PWM脉宽值,再进行计算获取输入电机的电压,最后通过DAC转换成模拟量输出。电机油门线在输入电压为0.8V时启动,3V时达到设定最大速度,控制器处理实现了数模转换,输出对应电压值。通过实地测试,水泥、泥泞和碎石道路均可正常通过,坡度角度可控制在30°以内。更多还原

【Abstract】 In order to solve the operational problems of agricultural vehicles in different terrains, especially in mountainous areas, a multi-functional remote-controlled agricultural vehicle based on STM32 F103 ZET6 single-chip microcomputer was designed, which can be used as a power chassis for transportation vehicles, lawn mowers and fight drugs. The intelligent remote-controlled agricultural vehicle adopts an agricultural remote-controlled crawler chassis, which mainly includes a chassis frame, and the first driving motor and the second driving motor controlling running on both sides.The agricultural vehicle is remotely controlled by internal procedures and external receivers to ensure multi-angle movement of the vehicle in different terrains. The remote control agricultural vehicle uses STM32 F103 ZET6 as the core processor, connects the remote control receiver to the single-chip microcomputer, obtains the PWM pulse width value through the input capture program, and then calculates the voltage of the input motor, and finally converts it into an analog output through the DAC. The motor throttle line starts when the input voltage is 0.8 V, and reaches the set maximum speed at 3 V. The controller process implements digital-to-analog conversion and outputs a corresponding voltage value. Through field testing, cement, muddy and gravel roads can pass normally, and the slope angle can be controlled within 30°.更多还原