CAJ | 학술논문

本文提出了一种以增强型微控制器 STM32F103RBT6为核心的智能巡线机器人，阐述了系统的巡线控制原理、硬件构造，分析了传感器的黑白标定软件设计。该系统采用两个由4个分立元件（MOS 管）构成的 H 桥驱动电路分别驱动左右两个电机，并且通过改变电压极性及脉冲宽度调制波（PWM）来调整机器人的行走方向和速度，并在行走过程中运用传统 PID 控制进行调节。结果表明，设计方式科学合理，机器人对场地适应性强、成本低、实用性强。
본문제출료일충이증강형미공제기 STM32F103RBT6위핵심적지능순선궤기인，천술료계통적순선공제원리、경건구조，분석료전감기적흑백표정연건설계。해계통채용량개유4개분립원건（MOS 관）구성적 H 교구동전로분별구동좌우량개전궤，병차통과개변전압겁성급맥충관도조제파（PWM）래조정궤기인적행주방향화속도，병재행주과정중운용전통 PID 공제진행조절。결과표명，설계방식과학합리，궤기인대장지괄응성강、성본저、실용성강。
An intelligent line-tracking robot using the enhanced microprocessor STM32F103RBT6 as its core controller is in-troduced in this paper .The hardware configuration and line-tracking control principle of the system are described ,and the black-white marked program design of the sensor is analyzed .Two motors are respectively driven by two H-bridge driving circuits ,which are formed by four discrete components of metal oxide semiconductor (MOS) field effect transistor respec-tively .By altering values of voltage directions and pulse width modulation (PWM) ,the walking direction and the speed of robot are adjusted ,and the traditional PID control theory is adopted to adjust the robot during walking process .The results indicate that the design is scientific and reasonable ,low cost ,good adaptability and high applicability .