Design of control system for wheeled aquatic monitoring vehicle based on STM32
Aiming at the low automation level and simple equipment of aquaculture monitoring equipment,a control system based on STM32 single chip microcomputer was designed on a wheeled aquatic monitoring vehicle.The system consisted of step-down module,wireless communication module and driver module.The driving module included the walking of the monitoring vehicle,the lifting of the operating platform and the telescopic functions of the mechanical arm.The signals of the remote control push rod and button were send to the signal receiver through 2.4G wireless network to control PWM wave resulting in changes of the voltage of the driving motor,and thus realized the walking function of the monitoring car.Hall sensor was used to monitor the vehicle speed in real time,and expert PID algorithm was used to adjust the vehicle speed to realize the smooth running of the monitoring vehicle.The lifting function of the operating platform was realized by the electric push rod by switching between the power supply state and the reverse state.The telescopic control of the manipulator is completed through adjusting the speed of the stepping motor with pulse number.The results of the field tests demonstrated that the motor speed of the monitoring vehicle was relatively stable within the range of 8 cm/s to 32 cm/s.The lifting height of the operating platform can reach 1.2 m,and the mechanical arm can reach 1.5 m.The performance of the control system of the monitoring vehicle was stable and reliable,and met the design requirements.
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