两栖机器人驱动装置控制器设计

Controller design of drive device of the Amphibious Robot

轮桨腿一体化两栖机器人驱动装置独特。为满足其控制性能要求,设计开发了基于ARM7的驱动装置控制器,引入了旋转变压器及其数据采集电路和CAN总线接口。这种控制器可以同时控制两路直流无刷电机,具有控制精度高、反应速度快、模块化程度高等特点,很好地满足了两栖机器人实时、精确控制的要求。

The drive device of the Wheel-Paddle-Leg Integration Amphibious Robot is fairly unique. To fulfill the requirements of its control performance, a kind of controller based on ARM7 is developed, on which a resolver sampling circuit and a CAN bus interface are appended. This controller can control two brushless DC motors at the same time. Meanwhile it has high control precision, response rate and integration level, which guarantees the real-time and precise control of the amphibious robot.