摘要
平台采用了基于8位微控制器与地面PC相结合的分布式控制系统,控制节点之间通过CAN总线进行连接;描述了适用于自主移动机器人的机上通信协议、低精度陀螺的校准、超声系统的分时复用等用于降低系统成本的关键技术;完成的一些控制算法实验证明了该平台的有效性。
This platfbrm uses a distributed control system based on 8-bit micro controller connected with ground PC. All the controlling nodes are interconnected via CAN bus. The key technologies such as on board communication protocol, low precision gyroscope calibration and time sharing muhiplex sonar system, which can enormously lower the cost of the control syslem, are also emphasized. At last, some control algorithm experiments are carried out to prove the validity of the platform.
出处
《航空制造技术》
2006年第11期89-93,共5页
Aeronautical Manufacturing Technology
