机器人行走运动控制系统

Control System of Robot Locomotion

机器人行走运动控制系统主要的工作是带动机器人运动,为了实现这一功能,我们采用了直流电机做驱动,这主要是考虑到它的调速、起动、制动及控制等方面的优点。对机器人行走运动的总控制由单片机89C52完成,其中包括了测速、控速和驱动三大部分。对直流电机的测速,则使用了转速发送脉冲器根据电机的不同转速产生相对应的脉冲,并选用M法进行测速。针对机器人通常是轻载的特点,主要采用的是混合调制控制。在驱动控制方面,为了保证对电机控制的准确和稳定,同时减小功耗,采用了大功率MOS管作为驱动。

The main task for robot movement control system is to drive the robot for moving,we use direct current electromotor to drive the robot,because it has many virtues in speed modulation,start,brake,and so on.To control the movement of the robot,the single chip microcomputer whose model is 89C52 has to complete the job of speed measurement,speed modulation and drive.We use the rotate speed impulsion to produce the pulse,which is corresponding to the speed of electromotor.In concert with the rotate speed impulsion,we use M method to measure the speed.Aiming to the characteristic of light load,we use mix modulating control.We also use IGBT to drive the robot,for the sake of ensuring the nicety and stabilization of the electromotor control.