本論文為開發一套自動循跡系統,從感測器種類與選用開始進行實驗,設計簡易邏輯控制電路,自行開發實現車體組裝,配合繼電器控制驅動馬達。因製程容易,可量化實現。故考慮將電路積體化並將感測能力與控制功能做改善以提升性能。因此在過程中,由兩組紅外線感測器到四組紅外線感測器做比較分析,至馬達驅動由傳統繼電器控制到MOS控制,最後希望能實現電路積體化。在積體化電路中,包含了數位邏輯電路(Digital Logic circuit)、比較電路(Comparator circuit)、運算電路(Operational circuit)組合完成。 改良後系統感測電路,可同時偵測數位與類比之訊號。以數位控制為主配合類比訊號修正誤差,利用線性內插法(Liner Interpolation)能計算車體與路徑的相對位置,以PD(Proportion Differentiator)控制電路來修正誤差量。本論文最大之特點是將感測控制與驅動電路整合在同一顆晶片上,以達到系統整合控制之應用。
This study develops an automatically mark system. This study selects suitable sensor, design an easy logical circuit control, develops car structure, and completes circuit integration. Because of the easy manufacture process and the implementable possibility, this study considers to completes circuit integration and improve the function of sensor and control. This study improves the sensor from two sets of infrared sensor to four sets of infrared sensor. The motor drives are controlled by MOS instead of the conventional used relay. This study completes circuit integration in order to be implemented on the unmanned carrier and the robotic arm. The integration of circuit is accomplished with digital logic circuit, comparator circuit and operational circuit. The improved system of detecting circuit can receive digit and analogy signals. The control is mainly by digit control and collocated by analogy signals control. This study adopts Liner Interpolation to precisely calculate the relative positions of car and route. This study also uses the control circuit of PD(Proportion Differentiator) to correct the error. This study combines the detecting controls and circuit controls in one chip to fulfill the integration of system control application.