Task
Figure 1 Task content
Require
Figure 2 Contents of basic requirements
Figure 3 play part of the content
illustrate
Figure 4 Explanation content
Grading
Figure 5 Score content
text (part)
Summary
This experiment is an air-cushion suspension vehicle driven by a high-speed axial flow fan. By using STM32F103 as the main control and L293D motor driver chip as the driving module, the suspension and motion control of the vehicle are realized. The experimental tasks include the suspension and tracking operation on the test track, as well as the obstacle avoidance function and the voice broadcast operation information. The basic requirements include that the vehicle slowly rises and hovers after starting, completes a counterclockwise tracing operation for one circle, and travels between the marking lines A and B. The play part requires the vehicle to avoid obstacles for tracking operation, and give a prompt when encountering obstacles, and finally stop and perform positioning detection. In the experiment description, detailed regulations are made on the external dimensions of the air-cushion suspension vehicle, the battery replacement time, and the width of the tracing line.
Keywords: air-cushion suspension vehicle, high-speed axial fan, STM32F103, L293D, tracking operation, obstacle avoidance, voice broadcast
1 . System solutions
This design uses the STM32 chip as the main control, and the overall system is mainly composed of the main control, drive module and suspension module.
1.1 Demonstration and selection of the main control module
Option 1: Select STM32F103 master control
Advantages: low cost, stable performance, rich development resources and support
Cons: Smaller storage capacity
Solution 2: Select STM32F407 master control
Advantages: large storage capacity, strong performance, support for more peripheral interfaces
Disadvantages: higher cost
Solution 3: Select STM32H7 master control
Advantages: high performance, rich storage capacity, support for multimedia processing and other functions
Disadvantages: higher price
To sum up, Option 1 is the most reasonable because of its low cost, stable performance, and abundant development resources and support.
1.2 Demonstration and selection of hardware control scheme
Solution 1: Use the L293D motor driver chip to build the system, and use the following hardware modules to realize the functions
Air cushion suspension module: including high-speed axial fan, pressure sensor and control circuit, etc.
Drive module: including motor drive module and sensor module, etc.
Solution 2: Use the TB6612FNG motor driver chip to build the system, and use the following hardware modules to realize the functions
Air cushion suspension module: including high-speed axial fan, pressure sensor and control circuit, etc.
Drive module: including motor drive module and sensor module, etc.
Solution 3: Use the DRV8833 motor driver chip to build the system, and use the following hardware modules to realize the functions
Air cushion suspension module: including high-speed axial fan, pressure sensor and control circuit, etc.
Drive module: including motor drive module and sensor module, etc.
To sum up, Option 1 is the most reasonable because of its low cost and is suitable for small air-cushion suspension vehicle systems.
2.3 Description of control process
To realize the suspension and movement of the air-cushion vehicle, it is necessary to use STM32F103 as the main control, and use the L293D motor driver chip as the drive module to control the air-cushion suspension module. The specific control process is as follows:
Start: After pressing the start button, control the L293D motor driver chip through STM32F103 to make the fan work and generate airflow to achieve suspension.
Motion control: Control the forward, backward and turning of the air cushion suspension vehicle by adjusting the output force of the fan and controlling the wheel speed.
Tracking control: Use sensors to detect the tracking line, and control the air-cushion suspension vehicle to drive along the tracking line according to the detection results.
Obstacle avoidance function: use the sensor to detect obstacles, when the air-cushion suspension vehicle approaches the obstacle, by adjusting the output force of the fan and controlling the wheel speed, it can bypass the obstacle and return to the tracking line to continue running.
Parking positioning detection: Use sensors to detect the parking position, adjust the output force of the fan and control the wheel speed according to the detection results, and realize stable parking at the designated position.
4. Test plan and test results
4.1 Test scheme
4.1.1 Functional test
(1) Suspension height test
1. Put the air cushion suspension vehicle on the start/stop point, start it with one button, and observe whether the suspension height is greater than 2mm.
2. Record the suspension time and judge whether it is greater than 2s.
(2) Tracing and running test
1. Starting from the start/stop point, run counterclockwise along the test track, and observe whether the running time is less than 180s.
2. After completing a week, stop at the start/stop point.
(3) Run the test back and forth
1. Start from point A, go counterclockwise along the test track to reach point B, and then return to point A.
2. Observe whether the running time is less than 120s, and stop the test when the timeout expires.
(4) Obstacle avoidance function test
1. Put two obstacles on the test track, and observe whether the air-cushion vehicle can avoid the obstacles and continue to run.
2. Observe whether the running time is less than 180s, and stop the test when the timeout expires.
(5) Voice broadcast test
1. Observe whether the air-cushion suspension vehicle can broadcast the operation information in real time by voice.
2. Check the accuracy and completeness of the operation information.
This document gives partial content, and those who want a complete document can obtain it through Baidu Netdisk.
Files shared through Baidu Netdisk: https://pan.baidu.com/s/1aXzYwLMLx_b59abvplUiYw?pwd=dn71
Extraction code: dn71
Copy this content and open "Baidu Netdisk APP to get it"
In fact, rigid standards cannot limit us with infinite possibilities, so ah! Come on guys!