《基于dsp小型地面移动机器人运动控制系统设计毕业设计课件》由会员分享，可在线阅读，更多相关《基于dsp小型地面移动机器人运动控制系统设计毕业设计课件（54页珍藏版）》请在金锄头文库上搜索。
1、摘 要I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
2、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，PWMABSTRACTIIAbstractIn present, the mobile robot has been aplied mo
3、re 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 i
4、mproved 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
5、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 pro
6、tection. 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 s
7、eparation 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 subprograms of interrupt. The program of motor communication, speed calculation,
8、 PWM output, speed control, communication with CAN and so on were also included in the subprogram.Key words: Mobile Robot, ARM9, DSP Motion Controller, BLDCM, PWM目 录III目 录摘 要.IABSTRACT.II目 录 .III第一章 绪 论 .11.1 课题设计的意义 .11.2 课题来源及国内外研究现状.11.3 课题设计的主要内容.2第二章 控制系统总体概述.32.1 移动机器人运动控制系统总体结构.32.2 电机的选择 .42
9、.2.1 步进电机、有刷直流电机及无刷直流电机比较.42.2.2 无刷直流电机结构及工作原理.52.2.3 无刷直流电机的数学模型.7第三章 控制系统硬件电路设计.103.1 控制系统电源设计 .103.1.1 驱动板电源设计 .103.1.2 DSP 供电电源专用芯片的匹配电源设计.113.2 ARM9 主处理器概述及其与 CAN 总线的连接简介.123.2.1 ARM9 处理器概述.123.2.2 ARM9 处理器 S3C2410X 与 CAN 总线的连接.123.3 DSP 分布式控制器与 DSP 最小系统设计.133.3.1 TMS320F2812 DSP 芯片简介.143.3.2 DSP 最小系统设计.153.4 CAN 功能模块硬件设计.203.5 PWM 信号隔离及驱动电路.223.6 主电路设计 .233.7 电流检测电路设计 .253.8 转速及转子位置检测电路设计.
