MiroSot足球机器人电机驱动系统设计

Design of the Motor Driving System for Miro Sot Soccer Robot

为了满足Miro Sot足球机器人体积小、机动性好、抗干扰性强等要求,设计了一套两轮差速驱动转向移动机器人电机驱动系统。以DSP-TMS320LF2407A为核心器件,采用脉宽调制(PWM)方式进行调速。采用双H桥驱动器L298驱动直流电机,实现对左右两组车轮的两个直流电机的驱动调速控制。作为专用于电动机控制的数字信号处理器(DSP)芯片TMS320LF2407A,其丰富的外设功能简化了电机控制电路,使电路结构更趋紧凑合理。DSP芯片使得足球机器人的电机速度采样周期缩短、采样精度更大。试验表明,该系统提高了机器人的硬件集成度、稳定性能以及控制精度,改善了机器人的运动性能,也为直流电机在移动机器人及其他场合的驱动应用提供参考。

In order to meet the functional requirements of MiroSot soccer robot, such as small size, good maneuverability and strong anti-interference capability, a motor driving system for autonomous mobile robot which is swerved by two differential speed driving wheels is designed. Taking DSP-TMS320LF2407A as the core device,the speed control of the two DC motors for the two group wheels （right and left） is carried out through adopting PWM mode for speed regulation and driving the DC motor by the dual H bridge driver L298. As the dedicated DSP chip TMS320LF2407A for controlling the motor,its rich peripheral functions simplify the design of motor control circuit,and makes the circuit structure more compact and reasonable. In addition,due to the digital signal processor（ DSP） chip,the speed sampling cycle of the soccer robot is shortened and the sampling accuracy is higher. The experiments show that this system can improve the hardware integration, stability, and control precision, as well as the motion performance of robot; it also provides reference for DC motor drive applications in mobile robots and other occasions.