摘要
舵机是机器人、机电系统和航模的重要执行机构;文章介绍了一种以ATmega16为核心的多舵机控制系统,利用单片机内部定时器,采用分时控制思想,用单片机实现多路PWM输出;系统的设计主要分为总体方案设计、硬件设计和软件设计部分,其中每一部分均采用模块化设计原则;系统总体设计遵循了可靠、简单、实用的原则,实验结果验证了方法的可行性和有效性,所提出的方法已经应用于多舵机的系统中。
Servo motor is an important executive structure in robots, mechanism and electronics and aeromodellings. This paper intro- duces a multi servo control system which is constituted by a high speed single chip microcomputer ATmegal6. It can generates multiplex PWM waveforms by means of the combining hardware timer and time--sharing multiplex technique. The design of the system can be divided into three parts: global scheme design, hardware design and software design. Each part comp lies with the modular design principles. The overall design follows a reliable, simple, practical principles. The experimental results verify the feasibility and effectivense of the proposed approach which has been successfully applied to multi--steering system.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第2期332-334,349,共4页
Computer Measurement &Control
基金
国家自然科学基金项目(60974125)