基于DSP和nRF24L01的无线直流伺服电机控制器设计  

Design of wireless DC servo controllers based on DSP and nRF24L01

作　　者：黄齐敏[1] 赵转萍[1] 龚醒 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机电工程》2014年第8期1058-1061,1066,共5页Journal of Mechanical & Electrical Engineering

摘　　要：针对自定心三爪测头尾端的线芯数较多,电缆比较粗和硬的问题,将无线控制直流伺服电机的技术应用到系统中,提出了一种基于DSP和nRF24L01的无线控制直流伺服电机的方法。该系统的主控制芯片选用TMS320F2808,无线通信模块选用nRF24L01,电机驱动部分采用驱动芯片+MOS管形式,驱动芯片选用IR2130,MOS管选用IRFU3806。论述了系统各硬件模块的选择方案,给出了部分的软件设计,包括无线发射与接收的程序流程图,以及PWM、QEP、ADC的初始化程序。最终设计了一长条形无线直流伺服电机驱动器放在测头内部,从而减少了测头尾端的线芯数,提高了测量精度和测量操作的便捷性。研究结果表明,通过采用直流伺服电机的电流控制模式,能实现测头三爪平稳地伸出与收回,测头电机运行平稳可靠。Aiming at the problems of the large number of cores, thick and hard cable about the three-jaw self-centering probe, the technology of controlling DC servo motor through wireless was investigated. A method was presented to control DC servo motor through wireless based on DSP （Digital Signal Processor）and nRF24L01. The TMS320F2808 was selected as the main control chip. The nRF24L01 was selected as the module of wireless communication. The form of driver chips＋MOS tube was used as motor driver＇s part, the driver chips IR2130 was selected, the MOS tube IRFU3806 was selected. The options about how to design the hardware circult was discussed, and some software designs were given, the flow chart about transmission and reception and the initialization procedure about PWM, QEP and ADC were given. A long trip of wireless DC servo motor driver inside the probe was designed, thus the number of cores about the probe was decreased, the accuracy and operation about the measurement were improved. The results indicate that the DC servo motor uses the current control mode, the three-jaw can extend and retake smoothly, the motor of the probe runs smoothly and reliably.

关 键 词：DSP NRF24L01 直流伺服电机 

分 类 号：TH39[机械工程—机械制造及自动化] TH124