CAJ | 학술논문

文章设计了一种以CC1110无线单片机为核心的机器鱼控制系统，该控制系统分为指令发送端和指令执行端两部分。指令发送端通过USB-RS232转换器完成与上位机的串口通信，并完成指令数据的无线发送和反馈数据的无线接收；指令执行端完成指令数据的无线接收、反馈数据的无线发送并计算控制量以产生PWM信号，从而控制舵机的执行。文中详细介绍了该控制系统的软硬件设计。通过下水测试表明，该控制系统工作正常，机器鱼可以有效地执行从上位机发送的指令。
문장설계료일충이CC1110무선단편궤위핵심적궤기어공제계통，해공제계통분위지령발송단화지령집행단량부분。지령발송단통과USB-RS232전환기완성여상위궤적천구통신，병완성지령수거적무선발송화반궤수거적무선접수；지령집행단완성지령수거적무선접수、반궤수거적무선발송병계산공제량이산생PWM신호，종이공제타궤적집행。문중상세개소료해공제계통적연경건설계。통과하수측시표명，해공제계통공작정상，궤기어가이유효지집행종상위궤발송적지령。
The paper describes a robot fish control system based on wireless MCU CC1100. It consists of command transmitting section and command actuator section. Command transmitter section connected to PC via USB-RS232 converter transmits the commands to actuator and receives feedback data from actuator in wireless way. The command actuator receives the commands, transmits feedback data and calculates the parameters to generate the PWM signal which is to control the servo motors. The paper explains the hardware and software design in detail. The underwater experiments show the control system works properly and the robot fish can execute the commands sent from PC effectively.