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Achieved with micro CPU frequency signal a new phase shift method


N T a timer to run after. In the OUT-side output high. Repeat the procedure continues, in the OUT-side to form a phase-shifted relative to the m s point of view of the square wave signal. Kids in (the switch 3l page) outline the direction of movement of 25 to meet the axis or 'axis negative direction of movement requirements. In any direction to crawl crawling approach requires the operator gives the direction (the body rotation), and crawling distance, which means crawling robot rotation angle of the body is limited. A 18o. Range. The reason for this requirement is to ensure the safety of the body wire on the vertical wall, the robot can move forward as needed, back, rotate, and for inside and outside the framework of the relative upward and downward, by a motor control them. The body structure we can see that this robot, the forward, back, rising, falling is the inside and outside the framework of the relative movement within the frame into the equivalent of the back frame, mountain top box frame clockwise rotation is equivalent to counterclockwise rotation. So by using a solenoid valve connected to different parts of bodies, different movement transmission mechanism, and the motor is, different combinations of reverse form, you can achieve the six different actions. We can see by the way of crawling, climbing the tasks the robot control program are crawling the automatic selection step, change, combination, body crawling step for detection and control, crawling distance calculation to determine the direction and control of crawling, the robot frame Calculation of rotation angle, rotation angle and direction control, corner detection limit position. In the body during exercise, the program also need to detect, the frame lift, put down the condition; within the frame moving limit position; body touch the wall signals, many of them switch. , The frame has three movements detection switch, used to detect internal (or external) frame up (or down) the highest (or lowest) bit and the public position of the two boxes (two boxes in the same height). Included, frame the question, 0. , 9o. , 180. A rotation limit position detection switch; body with front and rear obstacle detection and touch the wall infrared detection switch to detect whether or touch the body moving obstacles. 8031-bit operation functions,[link widoczny dla zalogowanych], making the control of these complex signals,[link widoczny dla zalogowanych], detection can be effectively simplified. Operating area in office, the program sets a dozen control, detection flag for the memory of the memory of the body the current state of motion and control the body's correct movement. Control program in a variety of discrete body movements are modular, which makes the process simple and easy to modify, add features. Figure shows a simple robot control program diagram of crawling. V. Other control procedures to control the tasks there are obstacles to the body during exercise treatment. Touch the wall before and after the body switch and play outside the obstacle detection probe Chau control. Yu test whether there is the body moving in front of the line direction】 shaking Si-employed, methods】 clamor ship {I toss the box set of wells from the tiny relative to the first direct call fI Fortunately, the framework of guilt grip trench l1, call the appropriate box to tiny pieces that sold to touch I 『break changes related to memory. Control one by one turn of a standard bottom l I automatically control the amount of possession Xiao Fang Yan Ran paste move. Xiao J Figure machine control procedures were crawling tube is touching the barriers or obstacles prince Yu. Robot may encounter obstacles,[link widoczny dla zalogowanych], there are two, one convex type, the infrared obstacle detectors and touch the wall switch is responsible for testing,[link widoczny dla zalogowanych], call the obstacles encountered in post-processing process】 robot around the obstacle, a good outside is depressed,[link widoczny dla zalogowanych], the mountains rise and fall on the framework of the relevant test that detects Jf, Liu obstacles encountered by the process control of such adjustments to the initial step away from the body (increase or i stupid little 'cross the barrier. The robot control procedures {II Science and Technology Commission of Shanghai through the commissioning and project identification. Received :1997-07-12 (Wang Ning bat fat) (Continued from page 25) of the circuit, micro-cPU can receive keyboard commands, such as the start. stop and any angle the setup of phase-shift command output when stopped, the emblem cPu just ended output OUT can be fixed low. In addition, micro CPU can detect the fault signal output amplifier, thus automatically when the failure to stop output. III. Summary Judging from the above description: the advantages of this circuit are evident, (1) circuit often clamor simple principle of simplicity, low cost, high reliability; (21 software, the phase shift method, accurate, convenient and can be arbitrarily phase; (3) programmed to operate, and has start, stop and output failure alarm protection features such as stop peach; (4) output signal from the input signal amplitude and distortion effects. Experiments show that the output of this circuit amplifier stability excellent in o-1 ‰ distortion is less than l%. 'application of the principle for the development of the Company and the production, supply' of this phase shifter modules, 3 outputs, 580, block; 500W output, 2,980 yuan / piece; also separate curing process has a good supply of micro-phase CPU core J {100 yuan / piece. Address manufacturers see the window period (32). wilting white collection of: I997-06-18 {Ning hoppers Fat) 31
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