摘要
为满足机器人控制开发的开放性和通用性要求,提出基于工控机及数字信号处理器(Digital Signal Processor,DSP)运动控制器的分布式控制结构设计,系统选用功能丰富的单片DSP作为控制器,实现两台直流无刷电动机的协调控制,利用CAN总线技术,实现上位机对电动机的实时监控管理,样机性能良好,满足了轮式机器人对电动机控制器的功能要求。
To meet the robot control of openness and general requirements development,submit a distributed control structure design method based on industrial PC and proposed Digital Signal Processor（DSP）motion controller.The system employed a single DSPchip to control two BLDC motors,and also use CAN bus to realize real-time monitoring and managemen for electromotor,prototyping system has good performance,it＇s satisfy the wheeled robot motor controller of function requirement.
出处
《现代制造工程》
CSCD
北大核心
2010年第5期133-136,共4页
Modern Manufacturing Engineering
基金
贵州省科学技术基金项目(S2008JP00401000829)
贵州省国际科技合作重点项目(700111)
