微小型机器人嵌入式远程实时控制系统设计  

Design of embedded remote real-time control system for micro robot

作　　者：张刚 布挺 焦文潭 ZHANG Gang;BU Ting;JIAO Wentan(College of Electrical Engineering and Automation,Luoyang Institute of Science and Technology,Luoyang 471000,China;Henan Engineering Research Center for Embedded Technology Application,Luoyang 471000,China)

机构地区：[1]洛阳理工学院电气工程与自动化学院,河南洛阳471000 [2]河南省嵌入式技术应用工程技术研究中心,河南洛阳471000

出　　处：《现代电子技术》2018年第17期158-162,共5页Modern Electronics Technique

摘　　要：云平台控制系统不能将机器人的运动状态数据反馈给相关操作模块,使其不能在短时间内完成控制动作。为解决此问题,设计新型微小型机器人嵌入式远程实时控制系统。通过嵌入式控制框架设计、多直流控制电机设计、实时控制节点设计三个环节,完成系统的硬件运行模块搭建;通过逻辑控制流程设计、实时数据库设计、远程数据传输方式设计三个步骤,完成系统的软件运行模块搭建。对比云平台控制系统、微小型机器人嵌入式远程实时控制系统的运行数据可知,随着新型系统的应用,控制动作完成时间缩短50%,运动状态数据反馈速率提升50%。The cloud platform control system can′t feed the motion state data of the robot back to the relevant operation module,which leads to that the control action of the robot wouldn′t be realized within short time.Therefore,a new embedded remote real-time control system for micro robot is designed.The designs of embedded control framework,multiple DC control motors and real-time control node are carried out to realize the establishment of system hardware running module.The designs of logic control process,real-time database and remote data transmission mode are carried out for the establishment of the system software running module.In comparison with the running data of cloud platform control system,the control action completion time of the new system is reduced by 50%,and the feedback speed of the motion state data is increased by 50%.

关 键 词：微小型机器人 远程实时监控 嵌入式系统 多直流电机 控制节点 逻辑流程 实时数据库 传输方式 

分 类 号：TN919-34[电子电信—通信与信息系统] TP393[电子电信—信息与通信工程]