全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于DSP的大功率多轴控制系统

Keywords: 机器人,控制系统,多轴,大功率

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对一般特种机器人的功能特性和作业特点,建立了基于TMS320F2812和高电流PN半桥驱动芯片BTS7960的大功率多轴控制系统,并对控制系统的驱动电路、电流采样电路、位置检测模块、CAN总线通信电路等进行了分模块设计.设计过程中充分利用TMS320F2812的片上资源,提高了机器人控制系统的稳定性和可靠性,减少了控制系统的体积和功耗.在机器人控制系统软件设计方面,利用C语言完成了主程序及相关中断子程序的编写.通过相应的电机控制实验,对DSP(digitalsignalprocessor)大功率多轴控制器进行了功能测试.测试结果表明,该系统性能可靠、集成度高,能够很好地满足一般特种机器人的控制要求.

References

[1]  Brooks R. A robust layered control system for a mobile robot[J]. IEEE Journal of Robotics and Automation, 1986,2(1):14-23.
[2]  Hutchinson S, Hager G D, Corke P I. A tutorial on visual servo control[J]. IEEE Transactions on Robotics and Automation, 1996,12(5):651-670.
[3]  Walter J A, Schulten K I. Implementation of self-organizing neural networks for visuo-motor control of an industrial robot[J]. IEEE Transactions on Neural Networks, 1993,4(1):86-95.
[4]  罗均,谢少荣,翟宇毅.特种机器人[M].北京:化学工业出版社,2006. Luo Jun, Xie Shaorong, Zhai Yuyi. Special robot[M]. Beijing: Chemical Industry Press, 2006. (in Chinese)
[5]  Wang Xiaohong, Yu Xiaoxin, Tian Lianfang, et al. Motion control for rescue robot based on PC104 and CPLD //Proceedings of International Conference on Industrial Mechatronics and Automation. Chengdu: Intelligent Information Technology Application Research Association, 2009:317-320.
[6]  Garcia O, Solaque L, Aviles O, et al. Hardware and software architecture of a mobile robot with anthropomorphic arm //Proceedings of 2010 IEEE Andescon Conference. Bogota, Colombia: IEEE Computer Society, 2010:1-6.
[7]  Kovacic Z, Balac B, Flegaric S, et al. Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces //Proceedings of 2010 1st International Conference on Applied Robotics for the Power Industry (CARPI). Montreal, Canada: IEEE Computer Society, 2010:1-6.
[8]  王名发,江智军.智能车竞赛中直流电机调速系统的设计与比较[J].微型机与应用,2009,28(20):19-25. Wang Mingfa, Jiang Zhijun. The design and comparison of DC motor speed control system in smart car race[J]. Microcomputer & Its Applications, 2009,28(20):19-25. (in Chinese)
[9]  高李明,肖俊.基于智能电源开关电动窗模块的开发[J].轻型汽车技术,2009(增刊1):4-8. Gao Liming, Xiao Jun. The development of smart power switch window module[J]. Light Vehicle Technology, 2009(suppl 1): 4-8. (in Chinese)
[10]  韩丰田.TMS320F281xDSP原理及应用技术[M].北京:清华大学出版社,2009. Han Fengtian. The principles and the application of TMS320F281X [M]. Beijing: Tsinghua University Press, 2009. (in Chinese)
[11]  姜宏伟,谢振宇.基于TMS320F28335DSP的磁悬浮系统数字控制器研究[J].机械与电子,2010(11):29-32. Jiang Hongwei, Xie Zhenyu. The research on digital controller with TMS320F28335 DSP applied on magnetic bearing system[J]. Machinery & Electronics, 2010(11):29-32. (in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133