摘要
在球形智能机器人云台驱动系统中,以步进电机作为执行器件,可有效实现云台运动的精确调速和云台装置的精确定位;在球形智能机器人云台控制系统中,采用TI DSP C2000系列的数字信号处理器TMS320F28015作为主控芯片,可有效提高系统的控制效能和数据处理能力。根据球形智能机器人的工作使命和功能特点,运动控制上采用基于指数型变化曲线的加减速分段式运行控制策略,与恒频控制方法相比有效克服了步进电机容易丢步、过冲等缺点。实验表明,该球形智能机器人云台控制系统能够很好的满足快速响应性和误差要求,具有功能齐备、运行稳定、功耗低、噪声小、可靠性好、性价比高等优点,为球形智能机器人的实用化奠定了坚实的基础。
In the drive system of rotational station using in an intelligent ball-robot,by using a step motor as the operating device,it can realize a precisely speed control and pinpoint of the rotational station;In the rotational station control system of the ball robot,by using TMS320F28015 as the main processor which is one of the TI DSP C2000 digital signal processor series can obviously enhance the control effect and data dealing capacity of the system.According to its functional features,the moving control applies a sectional control strategy that contains of acceleration part and deceleration part which based on an exponential change curve,compared with constant frequency controlling,this system has effectively overcome missing and overshooting.Experiments showed that the control system can excellently satisfy quickly responding and the error requirements,and possesses many advantages such as complete functions、stable running、lower power-consumption、reliable and a high performance-price ration,which made a basis for the practicality of the intelligent ball-robot.
出处
《机械设计与制造》
北大核心
2011年第3期148-150,共3页
Machinery Design & Manufacture
基金
总装备部重点基金项目(404040404)
