管道清淤机器人驱动及控制系统的设计

Design of Drive and Control System for Pipeline Dredging Robot

简述了一种新型排水管道清淤机器人的机构及工作原理,并提出了一种基于DSP的控制策略。利用DSP单片机中维特比数学运算单元(VCU)和控制率加速器(CLA),研究了由一片DSP单片机控制双无刷直流电机的控制方案和算法;设计了管道清淤机器人动作控制中的继电器输出电路原理图;制定了基于Zig Bee协议的无线数据传输模块传输协议。结果表明:无线数据传输和淤泥斗动作执行稳定,双无刷直流电机调速控制效果良好。

The structure and operational principle of a new tractor sewer pipeline dredging robot were introduced,and a control strategy was put forward based on digital signal processing( DSP) according to the working principle of robot. Controller for double brushless direct current( DC) motor about hardware and software was studied and designed,in which Viterbi,Complex Math and CRC Unit( VCU) and control rate accelerator( CLA) were used in the DSP microcontroller. The priciple diagram of relay output circuit of movement control of the robot was desgned. The wireless data transmission module based on Zig Bee was established. The results show that the wireless data transmission and movement implement of dredging bucket are stable,and controlling effects of the double brushless DC motor are good.