摘要
设计了一种基于TI公司高性能浮点DSP TMS320F28335和双全桥PWM电机驱动器DRV8402的仿袋鼠跳跃机器人关节运动控制器。控制器实时采集机器人3个关节相对运动角度,利用积分分离的PID控制算法实现关节驱动电机位置闭环控制。设计了基于LabW indows/CVI的上位机测控软件,制作了控制器样机并进行系统联调,实验结果表明控制器设计合理,方案可行。
A joint motion controller used in hopping kangaroo robot is designed.It is based on TI＇s high performance floating point DSP TMS320F28335 and dual full-bridge PWM motor driver DRV8402.Angular displacement of three joints is collected in real time by the controller.Integral separation PID algorithm is used to achieve position closed-loop control.A control software based on LabWindows/CVI is designed and a prototype is produced.Experimental results show that the controller design is reasonable and feasible.
出处
《测控技术》
CSCD
北大核心
2011年第2期38-41,共4页
Measurement & Control Technology
基金
国家863基金资助项目(2007AA04Z207)
国家自然科学基金资助项目(50975230)
