微小型军用地面机器人运载控制系统的研究

Study on Control System for the Military Ground Mini-Robot

以微小型军用地面机器人为研究对象,为其运动控制系统提供了一种新颖简便的实现方法,该控制系统以单片机和运动控制器为核心,通过光电码盘对运动控制器的反馈构成系统的闭环控制,对不同的控制对象实行了不同的驱动,文中也分析了该控制系统的硬软件设计和控制算法的实现,实验结果证实了这种设计方案的有效性.

This paper based on Single-Chip Microcomputer and Motion controller presents a novel and simple analysis of control system for military mini-robot. This close-loop control system provides different drive according to different control object through feedback of opto-electronic encoder, The hardwaren and software design are given and the control algorithm is researched too, The experiment result proves the validity of the design approach.