基于AVR单片机的多舵机控制系统设计及仿真  

Design And Simulation Of Multi-Servo Motor Control System Based On AVR Single Chip Microcomputer

作　　者：韩庆瑶[1] 洪草根[1] 朱晓光[1] 徐瑾[1] 

机构地区：[1]华北电力大学机械工程系,河北保定071003

出　　处：《计算机测量与控制》2011年第2期332-334,349,共4页Computer Measurement &Control

基　　金：国家自然科学基金项目(60974125)

摘　　要：舵机是机器人、机电系统和航模的重要执行机构;文章介绍了一种以ATmega16为核心的多舵机控制系统,利用单片机内部定时器,采用分时控制思想,用单片机实现多路PWM输出;系统的设计主要分为总体方案设计、硬件设计和软件设计部分,其中每一部分均采用模块化设计原则;系统总体设计遵循了可靠、简单、实用的原则,实验结果验证了方法的可行性和有效性,所提出的方法已经应用于多舵机的系统中。Servo motor is an important executive structure in robots, mechanism and electronics and aeromodellings. This paper intro- duces a multi servo control system which is constituted by a high speed single chip microcomputer ATmegal6. It can generates multiplex PWM waveforms by means of the combining hardware timer and time--sharing multiplex technique. The design of the system can be divided into three parts： global scheme design, hardware design and software design. Each part comp lies with the modular design principles. The overall design follows a reliable, simple, practical principles. The experimental results verify the feasibility and effectivense of the proposed approach which has been successfully applied to multi--steering system.

关 键 词：舵机 PWM 分时控制思想 ATMEGA16 

分 类 号：TP368.2[自动化与计算机技术—计算机系统结构]