轮式机器人控制系统设计  

Wheeled robot control system design

作　　者：杨春雷[1] 宋玉龙[1] 张腾[2] 杨姗姗[3] 

机构地区：[1]西北工业大学电子信息学院,陕西西安710129 [2]西北工业大学计算机学院,陕西西安710129 [3]西北工业大学自动化学院,陕西西安710129

出　　处：《电子设计工程》2011年第24期187-189,192,共4页Electronic Design Engineering

摘　　要：设计了一套基于直流电机的轮式机器人大功率驱动控制系统。本系统采用双H桥结构驱动两个电机,并以AVR单片机Atmega168为处理器实现电机控制。通过单片机定时器的快速PWM(脉宽调制)模式输出不同占空比的PWM信号,送给H桥,从而控制电机的转速。本系统以DXP2004为平台设计了电路原理图和大功率PCB(印刷电路板),并使用AVR Studio和WinAVR工具配合开发单片机程序,电路实测达到10 A以上驱动电流。In this article, a set of high power drive and control system for wheeled robot＇s DC motor is designed. This system uses dual H bridge to drive the two motors, and AVR microprocessor atmega168 to control them. Specifically, the microprocessor＇s Timer/Counters work at fast PWM mode, then ouput the PWM signals with different duty ratio to H bridges to control the motors＇ speed. In this system, the circuit＇s schematic and its high power PCB are designed on DXP2004 platform. What＇ s more, the program is developed with the help of AVR Studio and WinAVR tools. In actual tests, the system can reach more than 10 A drive current.

关 键 词：轮式机器人 双H桥 Atmega168 快速PWM模式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]