基于DSP地面移动机器人运动控制系统研究设计书课题.docVIP

摘 要 近年来，移动机器人应用范围越来越广泛，已经被用于人类生活的各个领域，而应用移动机器人完成侦查、排爆及消防等危险任务已经成为各国研究的重点。随着移动机器人的智能化程度越来越高，对机器人控制器的要求也在不断提高，这就要求控制器具有良好的实时性和快速响应能力。本次设计了一款全数字控制的小型地面移动机器人运动控制器，具有控制、功率驱动及各种保护等功能。 采用ARM9作为运动控制器的主控芯片，DSP作为分布式控制芯片，重点设计了DSP控制器的硬件电路。这些电路包括DSP最小系统、电机驱动、电机电流检测、电机位置检测及电机过压欠压保护，并对其主要电路进行了详细的分析。ARM主控制器与DSP分布式控制器之间利用CAN总线进行通信。采用速度环及电流环的双闭环控制，并且引入积分分离PID控制作为速度调节器的控制算法，对传统的PID控制进行了改进。 在设计硬件电路和控制算法基础之上，完成了DSP控制软件的设计。软件设计主要包括主程序设计及各种中断子程序设计。中断子程序又包括电机换相及速度计算子程序、PWM输出子程序、速度控制子程序、CAN总线通信子程序等。 关键词：移动机器人，ARM9，DSP运动控制器，无刷直流电机，PWM Abstract In present, the mobile robot has been aplied more and more widely. It has been used in all human life. It has become the focus study to complete the dangerous tasks such as investigation, remove exploder and fire protection with mobile robot. With the mobile robot becoming more and more intelligent, the requirment of motion controller has been improved increasingly. It requires the controller with good real-time and rapid response capacity. The study had designed a motion controller of mobile robot with fully digital control system. It had the function of control, power driver and various overload protection. The ARM9 processor was used in the motion controller as main command chip and DSP chips as the distributed controllers. The hardware circuits of DSP controller had been designed. It included the least control circuit of DSP, the circuit of motor drive, check current, position detection of motor, over-voltage and under-voltage protection. The main circuits had been analyzed detailed. The main processor ARM9 and distributed processors DSP using CAN bus communicate with each other. The motion controller had double closed loops which were speed loop and current loop. The traditional PID control had been improved. The integral separation PID control had been used in the speed reguator. Based on the hardware circuits and the control arithmetic, the software design of the DSP controller had been completed. It included the main program and various subpro