摘要
针对动态环境下需要对移动机器人进行实时控制的要求,提出了一种以DSP为核心处理器的两轮式移动机器人运动控制器的设计方法,克服了传统单片机控制器存在电路复杂、稳定性低的缺点,该系统充分利用了TMS320LF2407A运动控制器外设接口丰富及运算速度快的特点,设计并实现了运动控制器及驱动器电路,通过PWM控制策略来对直流电机速度控制,实现了对非完整性两轮移动机器人的快速、实时、准确控制,并通过实验验证了该设计方法的可行性和有效性。
Considering that it＇s necessary to timely control locomotive robot in dynamic environment, this paper put forward a method of design on a two-wheel locomotive robot whose Cpu is DSP, This method has solved the shortcomings, complicated circuit, low stability, etc. This system makes full ase of good performance of TMS 320 LF 2406A, designing and realizing the controller and drive circuit, and has valideted its feasibility and validity.
出处
《机械管理开发》
2008年第4期182-184,共3页
Mechanical Management and Development
