煤矿搜救机器人多路舵机控制系统设计  

Multiple Servo Control System Design of Coal Mine Rescue Robots

作　　者：王丽君[1] 张广超[1] 孔祥瑞[1] 任浩[1] 

机构地区：[1]华北水利水电大学机械学院,郑州450045

出　　处：《煤矿机械》2015年第8期24-26,共3页Coal Mine Machinery

基　　金：河南省高校科技创新人才支持计划(14HASTIT001);郑州市测控技术与仪器重点实验室(121PYFZX181);华北水利水电大学科研团队培育计划(华水政〔2014〕144号-5)

摘　　要：基于煤矿搜救用6足爬行机器人提出了一种多舵机并联的控制方法,对每个舵机做到单一控制。为了方便辨识舵机角度,在存取舵机角度时提出了一种舵机角度的表示方法。选取AT90S8515和74HC595组成硬件电路,为单片机节省大量I/O口。程序设计上以24路PWM波输出为例,最后给出了仿真结果。This article puts forward a parallel control method of multiple search and rescue crawling robot with 6 foot, which can realize single control identify servo angle conveniently, a representing method of the servo angle is servo based on the mine for each servo. In order to proposed when access the servo angle. Hardware circuit is composed ot AT9058515 and 74HC595, which can save a lot of ports for SCM. The 24 road PWM wave is as an example in programming and the simulation results are given in the last.

关 键 词：煤矿救灾 PWM波 74HC595 多路舵机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]