| 基于DSP的巡逻保安机器人的运动控制系统 |
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| 引用本文： | 张铁,谢存禧,龚树强.基于DSP的巡逻保安机器人的运动控制系统[J].华南理工大学学报(自然科学版),2006,34(7):26-30. |
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| 作者姓名： | 张铁 谢存禧 龚树强 |
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| 作者单位： | 华南理工大学,机械工程学院,广东,广州,510640 |
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| 基金项目： | 华南理工大学校科研和教改项目 |
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| 摘 要： | 针对公共场所对移动性巡逻保安的特殊要求，研制了一种巡逻保安机器人．该机器人利用双直流减速伺服电机进行驱动，其运动控制系统采用分级控制方式，包含主控级、协调级、执行级和遥控级．文中主要对巡逻保安机器人的DSP控制系统、协调级和执行级中的参数检测方法及电机驱动电路进行了研究，并探讨了三环控制的算法及程序．最后通过运行实验证实，所开发的控制系统完全能够满足巡逻保安机器人伺服控制的要求．
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| 关 键 词： | 巡逻保安机器人 运动控制 DSP控制 伺服控制 |
| 文章编号： | 1000-565X（2006）07-0026-05 |
| 收稿时间： | 2005-10-27 |
| 修稿时间： | 2005-10-27 |
Motion-Controlling System of Patrol and Security Robot Based on DSP |
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| Zhang Tie,Xie Cun-xi,Gong Shu-qiang.Motion-Controlling System of Patrol and Security Robot Based on DSP[J].Journal of South China University of Technology(Natural Science Edition),2006,34(7):26-30. |
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| Authors: | Zhang Tie Xie Cun-xi Gong Shu-qiang |
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| Institution: | College of Mechanical Engineering, South China Univ. of Tech. , Guangzhou 510640, Guangdong, China |
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| Abstract: | A novel patrol and security robot driven by two DC deceleration servo motors is developed in order to meet the requirements of safety in public locations. A classified system is adopted in the control of the robot, which includes the main control level, the coordinating level, the executing level and the remote control level. This paper mainly deals with the DSP control system, the inspection methods of the parameters in the coordinating level and the executing level, and the driver circuit of the motors. Moreover, the algorithms and program of the three-loop control of the robot are proposed. A running experiment is finally carried out, verifying that the proposed control system can completely meet the servo control requirement of the patrol and security robot. |
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| Keywords: | patrol and security robot motion control DSP control servo control |
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