三舵机仿鲹科机器鱼控制系统
内容摘要：
在传统的基于 51 单片机的舵机控制方法中，对舵机占空比控制不精确是致命的问题。针对该问题提出一种多路舵机流程控制算法，实现了对舵机的电平改变时间和占空比时间进行精确控制。描述机器鱼机械开发平台，在此基础上从硬件和软件两方面进行无线控制模块电路和无线通讯口令表的设计，最终完成了三舵机仿鲹科机器鱼的设计。试验结果表明，该系统具有低成本、低功耗、高性能、易实现等优势。
关键词：
机器鱼；无线控制模块；多路舵机流程控制法
中图分类号：TP24 文献标志码：A
Abstract: In the conventional control method, an imprecise control upon servo's duty ratio is a crucial problem. This paper introduces a multiple-channel servo flow control algorithm to solve the aforementioned problem, realizing an accurate tuning of the voltage of servo and a precise control about the servo's duty ratio. We first describe a mechanical developing platform for the robot-fish, and then implement the circuit design for the wireless control module and the command-table for wireless communications, and finally complete the three-servo robotic carangid-fish. The experimental results show the designed system has advantages of low-cost, low-consumption, high-performance, and easy-fulfill.
Key words: robot fish; wireless control module; multiple-channel servo flow control
