摘要
为实现移动机器人的实时响应性和鲁棒性、实现多电机协调驱动算法和高效智能控制算法以适应复杂的作业环境,采用了面向数字控制应用的TMS320LF2407型DSP作为电机控制的主控制器,由DSP发出电机PWM控制信号,将其他传感器及数控接口集成到EPM7128型CPLD上,由CPLD输送到DSP,完成驱动系统的闭环控制。整个控制系统性能优异,硬件结构简单、经济、可靠。
In order to achieve real-time response,robustness and accommodation to complex work, multi-motor harmony driven algorithm and efficiency intelligence controlling algorithm, applied hardware technology to a mobile robot .In the design of motor controller robot control circuit based on DSP TMS320LF2407 as main controller, which adopts PWM digital signal as its control signal, other sensor and NC interface integrate to CPLD- EPM7128, and transmit from CPLD to DSP, complete closed circuit control, at the premise of high capability, the whole controller hardware structure turn simple, economical and credible.
出处
《国外电子元器件》
2005年第11期61-66,共6页
International Electronic Elements
基金
国家科技攻关计划项目(2004BA524B03-02)
