全向移动机器人中电动机控制系统的研究  

Research on Motor Control System of Omni-directional Mobile Robot

作　　者：刘银萍[1] 

机构地区：[1]广东工业大学实验教学部,广州510006

出　　处：《微电机》2016年第12期50-53,共4页Micromotors

基　　金：广东工业大学青年基金资助项目(252151017)

摘　　要：针对Robo Cup四轮全向移动机器人的功能要求,设计了一种基于DSP2812的直流电动机控制系统。相对于传统的微控制器,使用高性能的DSP2812作为机器人的CPU简化了外围电路,提高了系统的集成度高和稳定性。同时采用Fuzzy-PID控制算法,弥补了单一控制算法的缺陷,改善了电动机的动态性能。实验结果表明,该系统提高了电动机的快速性和控制精度,改善了机器人的运动性能。According to the requirements of a four-wheel drived omni-directional mobile robot, a brushless DC motor control system based on DSP2812 was designed. Compared with the traditional micro controller, using high performance DSP2812 as the robot＇s CPU simplified the peripheral circuit and improved the system integration and stability. At the same time, the fuzzy-PID control algorithm was adopted to compensate for the defects of the single control algorithm, which improved the dynamic performance of the motor. The experimental results show that the system can improved the motor＇s speed and control precision, and improve the performance of the robot. K

关 键 词：全向移动机器人 电动机 DSP 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]