Research And Development Of Motion Experimental Platform Based On Ultrasonic Distance Measurement And Control

Paper introduced the physical characteristics of ultrasound, ultrasonic ranging principle and themethod for ultrasonic ranging pulse transmitting method; At the same time introduces the structureand working principle of hybrid stepping motor, the two-phase hybrid stepping motor speed controlis given and the method of subdivided driving. Designed by ultra-low power MSP430MCU as thecore of the system hardware circuit, temperature compensation and double ultrasonic rangingmodule is used to realize ultrasonic ranging; And the distance of the data obtained by ultrasonicranging, driven by H bridge to control stepping motor deceleration, positive&negative and otherfunctions. Write the function of each module of the software, the software design adopts themodularized program design idea, gives the flow chart of software program and some importantapplications. Finally, passed test, debug, and modify the system.Tests have shown that ultrasonic wave in air transport, Not close distance (5cm to60cm)measurement error is small; And close range (less than3cm) measurement, the echo signal aregreatly influenced by transmitting, will produce larger measuring blind area, and thus themeasurement error is bigger. May affect the measuring precision of this system is the main factorand the interference is analyzed and puts forward the corresponding improvement measures. Onstepper motor rotates at low speed vibration, noise and high speed when the load ability poor existsthe drawback of the research, based on the given should be rational selection of step motor runningspeed curve, details the PWM subdivision algorithm at the same time, can realize such as intervalAngle, such as uniform torque subdivided driving stepper motor, help to improve step motorrunning performance.