驱动伺服一体化型机器人云台系统的设计与实现  

Design and Implementation of Robot's Console with Servo and Drive Integration

作　　者：曹赢[1] 程磊[1] 方康玲[1] 

机构地区：[1]武汉科技大学信息学院教育部冶金自动化与检测技术工程研究中心,湖北武汉430081

出　　处：《计算技术与自动化》2008年第4期31-34,共4页Computing Technology and Automation

基　　金：国家自然科学基金(60705035);湖北省国际科技合作重点项目(2006CA025)

摘　　要：机器人云台是一种用于机器人图像采集的运动装置,能够精确的调速并且实现不同方向上的精确定位。设计采用数字信号处理器(TMS320LF2407 DSP)作为主控芯片,能提高控制系统的实时性和数据处理能力。设计包括供电与驱动电路系统、闭环控制系统与通信系统。控制系统包括位置闭环与速度闭环系统。位置闭环可实时检测并调整位置,速度闭环采用PI控制算法实现,PI参数的调试采用塔卡哈什经验方法。通信系统通过串口实现DSP与上位机的数据交换。Robot＇s console is a locomotion device used for inaage acquisition, which can control speed and achieve different directions on the accurate positioning. This design uses digital signal processor （TMS320LF2407 DSP） as a control chip, which helps the system to improve the real- time control capability and data processing capability. The console system includes power supply and drive circuit system, closed - loop control and communication system. Control system includes power supply and drive circuit system, control and communication system. Control system includes position dosed- loop and speed closed- loop. Position closed- loop can measure and coordinate the position real - time. Speed closed- loop control uses PI algorithm, and the PI parameters debugging is based on Takahashi experience methods. Serial communication system exchanges data through RS232 between the DSP and PC.

关 键 词：机器人云台 TMS320LF2407DSP 闭环控制 串口通信 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]