一种独轮车机器人测控系统的设计与实现  

Design and Realization of the Control System for an Unicycle Robot

作　　者：庄未[1] 江汉[1] 刘成举 何淑通[1] 

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《测控技术》2015年第9期69-72,75,共5页Measurement & Control Technology

基　　金：国家自然科学基金项目(51305087);国家级大学生创新创业训练计划项目(201510595034);桂林电子科技大学研究生教育创新计划资助项目(YJCXS201511;YJCXS201512)

摘　　要：针对一款具有3个驱动关节的独轮车机器人机械系统,提出一种可以实现系统实时状态反馈和稳定平衡控制的测控系统硬件设计方案。该方案以数字信号处理器(DSP)TMS320F28335为系统控制算法计算和数据处理核心,融合了惯性测量单元(IMU)、增量式光电编码器、电流传感器等多种传感器对系统的状态进行测量,并且引入ZigBee无线通信协议作为数据传输方式,为独轮车机器人构建了简洁的级联式测控系统平台。最后通过前后俯仰平衡的物理样机控制实验验证所设计硬件方案的有效性。In order to investigate the hardware realization to perform states feedback and balanced motions control for a three driven joints＇ unicycle robot,a control system scheme based on digital signal processor（DSP） is disscused.TMS320F28335 is taken as the core controller of control algorithm calculating and data processing.An inertial measuring unit（IMU） together with three encoders and three current sensors are used to acquire the inner states of robot system.As for the data transferring method between processors,a pair of wireless modules with ZigBee protocol are introduced into the scheme.According to the proposed hardware construction,a simple measuring and controlling platform is finally developed for the robot system,and the balanced pitching motion is given to testify the feasibility of the hardware scheme.

关 键 词：独轮车机器人 测控系统 平衡控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]