摘要
为满足实验教学和电子爱好者的需要,提出了一种电磁曲射炮实验装置的设计与实现方法;首先给出了基于单片机的电磁曲射炮实验装置整体功能和发射机构分析和计算依据;然后设计了电磁炮子系统的硬件实现电路以及控制方法;采用OPENMV摄像头模块识别标靶方向,利用TFmini激光传感器进行标靶的距离测量,选择CDS5500总线式闭环控制舵机精确控制水平方向角和仰角;设计分段二次多项式拟合仰角和发射炮弹距离的二次函数关系来实现精准发射;该装置具有向固定位置发射、自定义位置发射、自动瞄准模式和弹仓装填等几种工作模式;经测试在射程设定为240 cm时,该装置射击平均误差为1.125 cm;最后通过实验证明了本实验装置的可行性和有效性。
In order to meet the needs of experimental teaching and electronic enthusiasts,this paper proposes a experiment device of electromagnetic curved gun and the realization method.First,the analysis and calculation basis of the overall function and launching mechanism of the electromagnetic curved gun experimental device based on the single-chip microcomputer are given.Then the hardware realization circuit and control method of the electromagnetic gun subsystem are designed.The OPENMV camera module is used to identify the target direction,the TFmini laser sensor is used to measure the distance of the target,and the CDS5500 bus-type closed-loop control servo is selected to precisely control the horizontal direction and elevation angle.And a piecewise quadratic polynomial to fit the quadratic function relationship between the elevation angle and the firing distance to achieve accurate launch are designed.The device has several modes such as launching to a fixed location,launching from a custom location,automatic aiming mode,and magazine loading.After testing,when the shooting range is set to 240 cm,the average shooting error of the device is 1.125 cm.Finally,the feasibility and effectiveness of this experimental device are proved through experimental tests.
作者
刘文昊
高传智
谢玮
LIU Wenhao;GAO Chuanzhi;XIE Wei(School of Information Science and Engineering,Harbin Institute of Technology(Weihai),Weihai 264209,China)
出处
《计算机测量与控制》
2021年第9期137-141,146,共6页
Computer Measurement &Control
基金
教育部产学研合作协同育人项目(201702177001)。
关键词
电磁曲射炮
电容
电路设计
多项式拟合
自动瞄准
electromagnetic curve shooting gun
capacitance
circuit design
polynomial fitting
automatic aiming
作者简介
刘文昊(2001-),男,山东滨州人,大学本科生,主要从事机器人控制系统设计方向的研究;通讯作者:谢玮(1976-),男,陕西宝鸡人,博士,高级系统分析师,主要从事机器人控制和学习方向的研究。
