基于DSP的多台步进电机控制系统设计

Design on Control System of Motors Based on DSP

机器人的动作控制与执行涉及三台以上的步进电机,一直是个难题.基于DSP设计了由步进电机和驱动系统组成的多台步进电机控制系统,提出了三台步进电机的控制方法,给出了每台电机的控制引脚和存储器设置方法以及不同的算法.通过对多台步进电机加减速及位置等的控制可以实现机器人的姿态控制,该方法还可用于控制系统的试验、演示等.

Robot motion control and execution involving more than three stepping motors is always a difficult problem. Introduced the design of muhiple stepping motor control system composed of the three stepping motors, DSP and drive system. Presented control method of three stepping motor by a DSP platform, and gived each motor control pins and a memory arrangement method and different algorithms. Posture control of the robot can be achieved based on the multiple stepping motors speed and position control, the method also can be used to control system test, demonstration and so on.