Study Of Embedded Motion Control System For Robotic Chess Player

This paper study chess-based intelligent robot motion control system. This paper first introduce the motion control system and current Status. Through the analysis of motor motion the overall method of system is determined.For the economical and practical purpose, the paper uses serial port for ommunication, a mcu and a motion control chip system form the system . PIC16F877 microcontroller and LM629 is the core of motion control system, the system is formed by software and hardware.This paper includes the introduction ofLM629 and its control circuit, driving circuit, RS232 circuit, PID control, and several other parts. This system uses the digital controlled method and make full use of the advantages of a microcontroller and make it adaptablly.In the part about software , the paper introduces the PID control principle, specially digital PID control principle, self-tuning PID digital controller. the paper use VB6.0 as a PC development environment. VB MSComm control component is used in serial port interface, asynchronous communication is used the PC between the MCU. The PC interface can display and process data simply. In the control algorithm the expansion of the critical ratio of law PID tuning is used, PID algorithm is included in the host computer program. The C programming language is adopted in mcu ,it finish the various parameters initialization of the motion control system, and communicate with the host computer to control movement control system.A lot of experiments are done using the motion control board and the rotor hand,the volecity control and positioncontrol method was finished . Finally the author made the summary to this thesis,and forecast the motion control echnology development based on mcu.