单片机系统应用研究
摘要
随着科学技术的不断进步,单片机已无处不在。纵观现在生活的各个领域,从导弹的导航装置到飞机上各种仪表的控制,从计算机的网络通讯与数据传输到工业自动化过程的实时控制和数据处理,以及我们生活中广泛使用的各种智能IC卡、电子宠物等,都离不开单片机。
本论文就单片机在自动控制领域机器人方面和医用设备领域半自动生化分析仪方面的应用进行了初步的探讨和研究。
在机器人研究方面:首先从轮式移动机器人(WMR)的体系结构出发,重点设计了机器人移动控制系统的硬件、软件平台;建立了移动机器人的控制系统模型;设计了基于AVR微控制器(AT90S8515)的移动控制系统,其中主要包括PWM功率驱动、测速单元和串行通讯模块等。
在生化分析仪研究方面:以PIC16F774单片机为核心,实现了生化分析仪的硬件系统;完成硬件平台、接口模块、小信号放大和对数放大电路模块的开发设计,并使该硬件平台具有一定的抗干扰能力;按照系统功能要求,将软件分成若干个功能相对独立的模块,包括串行通信模块、显示模块、键盘处理模块、A/D转换模块、数据处理模块等,各个模块部分的内容相互独立,便于程序编写和调试。
此外,论文对单片机在测控领域的稳定性进行了探讨。
The full name of SCM is Single Chip Microcomputer, also is called as Microcontroller Unit or Embedded Controller. This kind of microcomputer performs miniaturization to the basic components of a computer, and is integrated into a chip; in general a chip contains the following: CPU, ROM, RAM, parallel I/O, serial I/O, timer/counter, interrupt control, system clock and system bus, etc.
From missile to navigation unit, including the various instruments in control in a plane, from Comm. & networking, and data transmission in computer to real-time control and data treatment in the process of industrial automation, including the various smart IC cards and electronic pet which have been widely used in our daily life, throughout the various fields in our current life they can't take away from SCM. For this reasons, it is highly necessary to deeply study in SCM. This thesis is started from the above thoughts, SCM is preliminarily discussed and researched in application against it's the following fields: automatic control concerning robot, and medical equipments concerning semi-automatic biochemical analyzer.
Robotics are the modern technology faces to future, they belong to the high-new technologies just as network technology, gene engineering, communications technology and computer technology, etc. Definition of robot is diverse, in 1979 RIA defined robot as: a reprogrammable and multifunctional manipulator, and is designed to perform the various desks in mobile such as the raw material, the part, the tool or the special equipment by means of the various program actions. Our scientists define robot as: robot is a kind of automated machine, what is different now is that this kind of machine has some intelligent capabilities as or similar to human or living creature, such as perception, programming ability, motor ability and synergism ability, it is a kind of automated machine with high-level flexibility.
With development of technology, The application of robots has been increasingly wide and deep, The robotics or the intelligence automation technologies has been taken top priority in strategy of science and technology development by all of developed nations and has been expanded, our country is a developing country, We must intensify research work, get hold of theory and technology, they should be discovered to the activities in production and research which are demanded as soon as possible.
The robots have many mobile modes, mainly are divided into 2 kinds as the following: wheel-type and feet-type, the main technologies of wheel mobile mode are more mature and easy to control, the feet-type is difficult in walking way, however with development of sensor technology and microcontroller, and has come a long way. On the whole the system of Wheeled Mobile Robot (WMR) mainly contain: mechanical structure, DC servo motor, electric power source, detecting element, CCD camera, microcontroller, and module of Power Drivers. This thesis is started from the system structure of WMR, mainly design the hardware and software platform concerning to mobile control system of a robot. Firstly analyzing the mobile structure of un-complete wheeled mobile structure and the model of DC servo motor and setting up the control system module of a robot. Secondly, designing a mobile control system based on AVR microcontroller (AT90S8515), among them the following should be contained as the main: PWM power driving, measuring velocity unit and serial communication module, etc.; as for the velocity and position control of the robot, adopting the method of vague PID calculation can overcome the impact by indeterminacy of mobile robot module, diversity required by rate-of-tum position control and environment change. The procedure is programmed by ICCAVR C language, and emulated by ICE200 in AVR SUDIO debugging software.
According to the difference of biochemical standard, Biochemical Analyzer is mainly applied for testing various biochemical standards in human body fluid in order to provide scientific reference for doctors confirming patient's condition. Its appearance greatly changes original situations such as frequent manipulate, great effects of manipulator's subjective factors and large error rate, caused by manual biochemical analysis. Biochemical Analyzer has many more types, it can be divided into four types according to structural style, including continuous type, centrifugal type, discrete type and dry chip type; it can be divided into two types according to the items tested by the instrument at the same time, including single channel and multiple channels: Biochemical Analyzer with single channel type can only test one item for one sampling, the multiple channels can test many items for one sampling at the same time; it can be divided into three types according to complexity of the instrument, including large type, meddle type and small type; and according to degree of automation, Biochemical Analyzer can be divided into full automatic and semiautomatic. At present, Biochemical Analyzer development level of our country is much lower, the development of full automatic Biochemical Analyzer is just beginning its step, and most instruments adopted by biochemical laboratory of small type hospital are semiautomatic Biochemical Analyzer at home. Thus develop research on semiautomatic Biochemical Analyzer has a certain significance and value for improving research level of Biochemical Analyzer. The purpose of this thesis is to introduce a new type of semiautomatic Biochemical Analyzer that has the characters of convenient manipulate, perfect function and Chinese user interface. This Biochemical Analyzer is used to In Vitro Diagnostic; it is mainly used to analysis of various biochemical standards in blood and other fluids in human body through photoelectric method to test the density of the fluid to be tested.
Here we introduce operating principles and measuring method of semiautomatic Biochemical Analyzer firstly, according to performance index of Biochemical Analyzer to make overall design for the control system of Biochemical Analyzer and make clear and reasonable distribution of hardware and software function. Taking PIC16F774 single chip as the core has realized the hardware system of Biochemical Analyzer, completed the development and design of hardware platform, interface module, Small signal amplifying and logarithmic amplifying circuit module, and enabled the hardware platform to have a certain capacity of resisting disturbance. Utilizing photoelectric method to make signal test as well taking weak dark-current selenium photocell S1133 as photoelectric detecting element can improve test precision of Biochemical Analyzer.
Using PIC assembly language to program the software procedure under PICMATE2004 integrated developing debugging environment, and completing the software design of Biochemical Analyzer control system. According to the requirement of systemic function, we divide the software into several modules with relative independent function, including serial communication module, display module, keyboard treatment module, A/D transformation module, and data treatment module, etc. The content of each module is mutual independent, which is convenient to program and adjust the procedure. During the test, Biochemical Analyzer requires that the sample need to be in normal temperature; the temperature control has great impact on performance analysis of the instrument. This design adopts method of vague control calculation, use integrated temperature sensor AD590 to test the temperature, and utilize PIC SCM to control Peltier temperature rise or temperature reduction. This method has the character of well control dynamic performance and strong stability. This design has complied with the localized developing trend of medical instruments; with the complete of development and promotion of the market, this instrument must bring prospective social benefit and economic benefit. In addition, the thesis discusses on stability of SCM in measurement and control domain.
The system will be out of control when the CPU is impacted by the interfering signal. The most typical error is breaking the state value of PC, so that the procedure will fly in address field or involved in endless loop. While there are several methods to treat such situation as following: order redundancy technique; software snare technique; house dog technique.
本论文就单片机在自动控制领域机器人方面和医用设备领域半自动生化分析仪方面的应用进行了初步的探讨和研究。
在机器人研究方面:首先从轮式移动机器人(WMR)的体系结构出发,重点设计了机器人移动控制系统的硬件、软件平台;建立了移动机器人的控制系统模型;设计了基于AVR微控制器(AT90S8515)的移动控制系统,其中主要包括PWM功率驱动、测速单元和串行通讯模块等。
在生化分析仪研究方面:以PIC16F774单片机为核心,实现了生化分析仪的硬件系统;完成硬件平台、接口模块、小信号放大和对数放大电路模块的开发设计,并使该硬件平台具有一定的抗干扰能力;按照系统功能要求,将软件分成若干个功能相对独立的模块,包括串行通信模块、显示模块、键盘处理模块、A/D转换模块、数据处理模块等,各个模块部分的内容相互独立,便于程序编写和调试。
此外,论文对单片机在测控领域的稳定性进行了探讨。
The full name of SCM is Single Chip Microcomputer, also is called as Microcontroller Unit or Embedded Controller. This kind of microcomputer performs miniaturization to the basic components of a computer, and is integrated into a chip; in general a chip contains the following: CPU, ROM, RAM, parallel I/O, serial I/O, timer/counter, interrupt control, system clock and system bus, etc.
From missile to navigation unit, including the various instruments in control in a plane, from Comm. & networking, and data transmission in computer to real-time control and data treatment in the process of industrial automation, including the various smart IC cards and electronic pet which have been widely used in our daily life, throughout the various fields in our current life they can't take away from SCM. For this reasons, it is highly necessary to deeply study in SCM. This thesis is started from the above thoughts, SCM is preliminarily discussed and researched in application against it's the following fields: automatic control concerning robot, and medical equipments concerning semi-automatic biochemical analyzer.
Robotics are the modern technology faces to future, they belong to the high-new technologies just as network technology, gene engineering, communications technology and computer technology, etc. Definition of robot is diverse, in 1979 RIA defined robot as: a reprogrammable and multifunctional manipulator, and is designed to perform the various desks in mobile such as the raw material, the part, the tool or the special equipment by means of the various program actions. Our scientists define robot as: robot is a kind of automated machine, what is different now is that this kind of machine has some intelligent capabilities as or similar to human or living creature, such as perception, programming ability, motor ability and synergism ability, it is a kind of automated machine with high-level flexibility.
With development of technology, The application of robots has been increasingly wide and deep, The robotics or the intelligence automation technologies has been taken top priority in strategy of science and technology development by all of developed nations and has been expanded, our country is a developing country, We must intensify research work, get hold of theory and technology, they should be discovered to the activities in production and research which are demanded as soon as possible.
The robots have many mobile modes, mainly are divided into 2 kinds as the following: wheel-type and feet-type, the main technologies of wheel mobile mode are more mature and easy to control, the feet-type is difficult in walking way, however with development of sensor technology and microcontroller, and has come a long way. On the whole the system of Wheeled Mobile Robot (WMR) mainly contain: mechanical structure, DC servo motor, electric power source, detecting element, CCD camera, microcontroller, and module of Power Drivers. This thesis is started from the system structure of WMR, mainly design the hardware and software platform concerning to mobile control system of a robot. Firstly analyzing the mobile structure of un-complete wheeled mobile structure and the model of DC servo motor and setting up the control system module of a robot. Secondly, designing a mobile control system based on AVR microcontroller (AT90S8515), among them the following should be contained as the main: PWM power driving, measuring velocity unit and serial communication module, etc.; as for the velocity and position control of the robot, adopting the method of vague PID calculation can overcome the impact by indeterminacy of mobile robot module, diversity required by rate-of-tum position control and environment change. The procedure is programmed by ICCAVR C language, and emulated by ICE200 in AVR SUDIO debugging software.
According to the difference of biochemical standard, Biochemical Analyzer is mainly applied for testing various biochemical standards in human body fluid in order to provide scientific reference for doctors confirming patient's condition. Its appearance greatly changes original situations such as frequent manipulate, great effects of manipulator's subjective factors and large error rate, caused by manual biochemical analysis. Biochemical Analyzer has many more types, it can be divided into four types according to structural style, including continuous type, centrifugal type, discrete type and dry chip type; it can be divided into two types according to the items tested by the instrument at the same time, including single channel and multiple channels: Biochemical Analyzer with single channel type can only test one item for one sampling, the multiple channels can test many items for one sampling at the same time; it can be divided into three types according to complexity of the instrument, including large type, meddle type and small type; and according to degree of automation, Biochemical Analyzer can be divided into full automatic and semiautomatic. At present, Biochemical Analyzer development level of our country is much lower, the development of full automatic Biochemical Analyzer is just beginning its step, and most instruments adopted by biochemical laboratory of small type hospital are semiautomatic Biochemical Analyzer at home. Thus develop research on semiautomatic Biochemical Analyzer has a certain significance and value for improving research level of Biochemical Analyzer. The purpose of this thesis is to introduce a new type of semiautomatic Biochemical Analyzer that has the characters of convenient manipulate, perfect function and Chinese user interface. This Biochemical Analyzer is used to In Vitro Diagnostic; it is mainly used to analysis of various biochemical standards in blood and other fluids in human body through photoelectric method to test the density of the fluid to be tested.
Here we introduce operating principles and measuring method of semiautomatic Biochemical Analyzer firstly, according to performance index of Biochemical Analyzer to make overall design for the control system of Biochemical Analyzer and make clear and reasonable distribution of hardware and software function. Taking PIC16F774 single chip as the core has realized the hardware system of Biochemical Analyzer, completed the development and design of hardware platform, interface module, Small signal amplifying and logarithmic amplifying circuit module, and enabled the hardware platform to have a certain capacity of resisting disturbance. Utilizing photoelectric method to make signal test as well taking weak dark-current selenium photocell S1133 as photoelectric detecting element can improve test precision of Biochemical Analyzer.
Using PIC assembly language to program the software procedure under PICMATE2004 integrated developing debugging environment, and completing the software design of Biochemical Analyzer control system. According to the requirement of systemic function, we divide the software into several modules with relative independent function, including serial communication module, display module, keyboard treatment module, A/D transformation module, and data treatment module, etc. The content of each module is mutual independent, which is convenient to program and adjust the procedure. During the test, Biochemical Analyzer requires that the sample need to be in normal temperature; the temperature control has great impact on performance analysis of the instrument. This design adopts method of vague control calculation, use integrated temperature sensor AD590 to test the temperature, and utilize PIC SCM to control Peltier temperature rise or temperature reduction. This method has the character of well control dynamic performance and strong stability. This design has complied with the localized developing trend of medical instruments; with the complete of development and promotion of the market, this instrument must bring prospective social benefit and economic benefit. In addition, the thesis discusses on stability of SCM in measurement and control domain.
The system will be out of control when the CPU is impacted by the interfering signal. The most typical error is breaking the state value of PC, so that the procedure will fly in address field or involved in endless loop. While there are several methods to treat such situation as following: order redundancy technique; software snare technique; house dog technique.
引文
[1]DarrickAddison.Introduction to robotics technology.USA,September 2001
[2]张玉海等.新型医用检验仪器原理与维修.北京:电子工业出版社.2005.144158
[3]耿德根,宋建国,马潮.AVR高速嵌入式单片机原理与应用.北京:北京航空航天大学出版社,2001
[4]朱丹梧.增量式光电编码器信号处理、显示电路的设计实用检测技术,1997第4期
[5]刘新建.光电编码器的误计数抑制电路设计.国防科大自控系机器人实验室,测控制技术,1998年第17卷第6期
[6]J.Borenstein,H.R.Everett,and L.fens.Sensors and Methods for Mobile Robot Positioning.April,1996
[7]谢涛.仿人机器人的研究历史、现状及展望.机器人ROBOT,Vo124,4,2002
[8]蔡自兴.机器人学.北京:清华大学出版社,2000年9月
[9]孙迪生,王炎编著.机器人控制技术.北京:机械工业出版社,1997
[10]大熊繁旧编著.机器人控制.北京:(译)科学出版社,2002
[11]Inncapolis,Minnesota,Yamauchi B.Mobile Robot Localization in Dynamic Environments Using Dead Reckoning and Evidence Grids.Proc.of the IEEE Inter.Conf.On Robotics and Automation.M USA,1996
[12]付庄.轮式移动机器人WMR的运动分析.机器人ROBOT,Vol 23,7,2001
[13]G.Campion.Structual Properties and Classification of Kinematic and Dynamic Models of Wheel Mobile Robots.IEEE Trasactions on Robot and Automation,Vol.12,No.1,1996
[14]Lin Ke Wang.Theory and Experimental Investigation of Tracking Control of Wheeled Mobile Robots.Thesis for the degree of master at Concordia University,Canada.2002.3
[15]L.Feng etc.A model reference adapive motion controller for a differential-drive mobile robot.IEEE conference,1994
[16]Patrick F.Muir and Charles P.Neuman.Kinematic modeling of wheeled mobile robots.Journal of Robotic Systems,Vol.4,No.2,April,1987,pp.281-340.
[17]张强.半自动生化分析仪.2006年3月,吉林大学硕士学位论文
[18]VYu.Teplov and A.VAnisimov.Thermoscatting System Using a Single-chip Microcomputer and Thermoelectric Modules Based on the Peltiereffect Instrument and Experimental Technique,2002
[19]http://www.pep.com/cn1200406/ca461619.htm
[20]应武林,顾国耀.分析化学.青岛海洋大学出版社,1995.3
[21]甘心照,陈仁渔等.现代医用检验电子仪器.南京大学出版社,1993.7
[22]刘智敏.误差与数据处理.原子能出版社,1981.5
[23]叶应妩,王毓三等全国临床检验操作规程.中华人民共和国卫生部医政司,1997.1
[24]胡凯,张颖超.半自动生化分析仪的设计及其与PC机的串口通信团.
[25]Maxim Max232 Data Sheet.Maxim Technology Inc,1996.1
[26]黄立培.电动机控制.清华大学出版社,2003.9
[27]谭建成.电机控制专用集成电路.机械工业出版社,2004.3
[28]余永权,汪明彗、黄英.单片机在控制系统中的应用.电子工业出版社,2003.10
[29]赵负图.传感器集成电路手册.化学工业出版社,2002.4
[30]安毓英,曾晓东.光电探测原理.西安电子科技大学出版社,2004.8
[31]曾光宇,张志伟,张存林.光电检测技术.清华大学出版社,2005.9
[32]朱庆保,张颖超,孙燕.微机系统原理与接口.南京大学出版社,2003.8
[33]胡凯.半自动生化分析仪的研究与设计.2006年5月,南京信息工程大学硕士论文
[34]王辛之,王雷,翟成,王闪.单片机应用系统抗干扰技术.北京航空航天大学出版卒2000.2
[35]徐爱钧.智能化侧量控制仪表原理与设计.北京航空航天大学出版社,2004.9
[36]胡烨.Protel 99 SE原理图与PCB设计教程.机械工业出版社,2005.3
[37]黄书伟,卢申林,钱毓清.印刷电路板的可靠性设计.国防工业出版社,2004.6
[38]Microchip PIC 16F77X Data Sheet.Microchip Technology Inc.2002.1
[2]张玉海等.新型医用检验仪器原理与维修.北京:电子工业出版社.2005.144158
[3]耿德根,宋建国,马潮.AVR高速嵌入式单片机原理与应用.北京:北京航空航天大学出版社,2001
[4]朱丹梧.增量式光电编码器信号处理、显示电路的设计实用检测技术,1997第4期
[5]刘新建.光电编码器的误计数抑制电路设计.国防科大自控系机器人实验室,测控制技术,1998年第17卷第6期
[6]J.Borenstein,H.R.Everett,and L.fens.Sensors and Methods for Mobile Robot Positioning.April,1996
[7]谢涛.仿人机器人的研究历史、现状及展望.机器人ROBOT,Vo124,4,2002
[8]蔡自兴.机器人学.北京:清华大学出版社,2000年9月
[9]孙迪生,王炎编著.机器人控制技术.北京:机械工业出版社,1997
[10]大熊繁旧编著.机器人控制.北京:(译)科学出版社,2002
[11]Inncapolis,Minnesota,Yamauchi B.Mobile Robot Localization in Dynamic Environments Using Dead Reckoning and Evidence Grids.Proc.of the IEEE Inter.Conf.On Robotics and Automation.M USA,1996
[12]付庄.轮式移动机器人WMR的运动分析.机器人ROBOT,Vol 23,7,2001
[13]G.Campion.Structual Properties and Classification of Kinematic and Dynamic Models of Wheel Mobile Robots.IEEE Trasactions on Robot and Automation,Vol.12,No.1,1996
[14]Lin Ke Wang.Theory and Experimental Investigation of Tracking Control of Wheeled Mobile Robots.Thesis for the degree of master at Concordia University,Canada.2002.3
[15]L.Feng etc.A model reference adapive motion controller for a differential-drive mobile robot.IEEE conference,1994
[16]Patrick F.Muir and Charles P.Neuman.Kinematic modeling of wheeled mobile robots.Journal of Robotic Systems,Vol.4,No.2,April,1987,pp.281-340.
[17]张强.半自动生化分析仪.2006年3月,吉林大学硕士学位论文
[18]VYu.Teplov and A.VAnisimov.Thermoscatting System Using a Single-chip Microcomputer and Thermoelectric Modules Based on the Peltiereffect Instrument and Experimental Technique,2002
[19]http://www.pep.com/cn1200406/ca461619.htm
[20]应武林,顾国耀.分析化学.青岛海洋大学出版社,1995.3
[21]甘心照,陈仁渔等.现代医用检验电子仪器.南京大学出版社,1993.7
[22]刘智敏.误差与数据处理.原子能出版社,1981.5
[23]叶应妩,王毓三等全国临床检验操作规程.中华人民共和国卫生部医政司,1997.1
[24]胡凯,张颖超.半自动生化分析仪的设计及其与PC机的串口通信团.
[25]Maxim Max232 Data Sheet.Maxim Technology Inc,1996.1
[26]黄立培.电动机控制.清华大学出版社,2003.9
[27]谭建成.电机控制专用集成电路.机械工业出版社,2004.3
[28]余永权,汪明彗、黄英.单片机在控制系统中的应用.电子工业出版社,2003.10
[29]赵负图.传感器集成电路手册.化学工业出版社,2002.4
[30]安毓英,曾晓东.光电探测原理.西安电子科技大学出版社,2004.8
[31]曾光宇,张志伟,张存林.光电检测技术.清华大学出版社,2005.9
[32]朱庆保,张颖超,孙燕.微机系统原理与接口.南京大学出版社,2003.8
[33]胡凯.半自动生化分析仪的研究与设计.2006年5月,南京信息工程大学硕士论文
[34]王辛之,王雷,翟成,王闪.单片机应用系统抗干扰技术.北京航空航天大学出版卒2000.2
[35]徐爱钧.智能化侧量控制仪表原理与设计.北京航空航天大学出版社,2004.9
[36]胡烨.Protel 99 SE原理图与PCB设计教程.机械工业出版社,2005.3
[37]黄书伟,卢申林,钱毓清.印刷电路板的可靠性设计.国防工业出版社,2004.6
[38]Microchip PIC 16F77X Data Sheet.Microchip Technology Inc.2002.1