| 郭本振,李声晋,卢刚.仿袋鼠跳跃机器人用关节运动控制器设计[J].测控技术,2011,30(2):38-41 |
| 仿袋鼠跳跃机器人用关节运动控制器设计 |
| Design of Joint Motion Controller Used in Hopping Kangaroo Robot |
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| DOI： |
| 中文关键词: DSP PWM 关节运动控制器 积分分离PID |
| 英文关键词:DSP DWM joint motion controller integral separation PID |
| 基金项目:国家863基金资助项目(2007AA04Z207);国家自然科学基金资助项目(50975230) |
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| 中文摘要: |
| 设计了一种基于TI公司高性能浮点DSP TMS320F28335和双全桥PWM电机驱动器DRV8402的仿袋鼠跳跃机器人关节运动控制器。控制器实时采集机器人3个关节相对运动角度，利用积分分离的PID控制算法实现关节驱动电机位置闭环控制。设计了基于LabWindows/CVI的上位机测控软件，制作了控制器样机并进行系统联调，实验结果表明控制器设计合理，方案可行。 |
| 英文摘要: |
| A joint motion controller used in hopping kangaroo robot is designed.It is based on TI’s high performance floating point DSP TMS320F28335 and dual full-bridge PWM motor driver DRV8402.Angular displacement of three joints is collected in real time by the controller.Integral separation PID algorithm is used to achieve position closed-loop control.A control software based on LabWindows/CVI is designed and a prototype is produced.Experimental results show that the controller design is reasonable and feasible. |
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