柔性脊柱四足机器人的控制系统  

Control System of Flexible Spine Quadruped Robot

作　　者：陈新杰 胡天麒 CHEN Xin-jie;HU Tian-qi(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《装备制造技术》2020年第10期53-57,共5页Equipment Manufacturing Technology

基　　金：智能机器人与系统高精尖创新中心资助项目(2019IRS18)。

摘　　要：引入柔性脊柱可以提升四足机器人的运动速度和灵活性,针对柔性脊柱四足机器人的控制关节数增加和实时性要求更高的问题,设计了基于CAN通信的分层式控制系统。在硬件设计上,PC机作为监控层、PC/104嵌入式工控机规划机器人控制策略的规划控制层和多个DSP为CAN总线节点驱动电机的执行层。在执行层采用一种新型的积分分离PID控制算法控制电机,减轻规划控制层计算压力,提高系统响应速度和控制精度。在软件设计上,系统采用模块化设计开发和多线程软件程序设计,提高控制系统的扩展性和实时性。Adding flexible spine can improve quadruped robot’s motion speed and flexibility. Aiming at the problems of more control joints and higher real-time requirement of quadruped robot with flexible spine,a layered control system based on CAN communication was designed. In hardware design,PC was used as the monitoring layer,PC/104 embedded industrial control computer as the planning control layer for planning robot’s control strategy,and DSP chips as the execution layer to drive motors through CAN bus. A new integral separation PID control algorithm was adopted to control the motor in the executive layer,which could reduce the calculation pressure in the planning control layer and improve the response speed and control accuracy of the system. In software design,the system adopted modular design and multi-thread software programs design to improve the expansibility and control system’s real-time performance. Through the motor motion’s the simulation and experiment,the effectiveness and stability of the control system were verified.

关 键 词：四足机器人 控制系统 积分分离PID控制 CAN总线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]