基于STM32的舞蹈机器人舵机控制器设计  

Design of Steering Gear Controller for Dance Robot Based on STM32

作　　者：周飞扬 谷芳[1] 谢广杰 龚正 史颖刚[1] Zhou Feiyang;Gu Fang;Xie Guangjie;Gong Zheng;Shi Yinggang(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China)

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西杨凌712100

出　　处：《机电工程技术》2024年第1期70-76,共7页Mechanical & Electrical Engineering Technology

基　　金：2021年西北农林科技大学校级“大学生创新创业训练计划项目”(X202210712326)。

摘　　要：机器人舞蹈动作的实现离不开机器人对各个关节处的舵机精确控制,而舵机控制器是控制舵机精确转动的关键,实现舞蹈机器人动作的流畅、自然的保证。基于STM32F103RCT6单片机,开发了24路舵机控制器,实现了PC端对舞蹈机器人的实时在线调试,舞蹈机器人舞蹈动作的编辑、下载及离线运行,舞蹈机器人对应角度的转动,提高了多路舵机的控制精度。系统设计包括舵机控制器模块、上位机对单片机下载程序、上位机软件。与PID舵机控制器的对比实验结果证明,所设计的STM32F103RCT6单片机舵机控制器的稳态误差和最大超调量都为0,表明所设计的舵机控制器系统超调量和静态误差都很小,系统具有很好的稳态和动态性能,控制精度高,响应速度快,满足竞赛对舞蹈机器人的需求。The realization of robot dance movements relies on the robot's precise control of the steering gear at each joint,and the steering gear controller is the key to the precise rotation of the steering gear,ensuring smooth and natural movements of the dancing robot.Based on the STM32F103RCT6 microcontroller,a 24-channel steering gear controller is developed to realize real-time online debugging of the dance robot on the PC,and the editing,download and offline operation of the dance robot's dance moves,and the rotation of corresponding angles of dancing robot,therefore,the the control accuracy of multi-channel steering gear is improved.System design includes steering gear controller module,host computer to the single chip download program,host computer software.Comparison experiment results with the PID steering gear controller shows that the steady-state error and maximum overshoot of STM32F103RCT6 SCM steering gear controller designed in this paper are 0.The results show that the overshoot and static error of the steering gear controller system designed in this paper are very small,the system has good steady-state and dynamic performance,high control precision,fast response speed,and can meet the requirements of dancing robots in competition.

关 键 词：舵机控制器 STM32 舞蹈机器人 驱动程序 上位机程序 

分 类 号：S949[农业科学—水产养殖] TN99[农业科学—水产科学]