| 基于DSP的高压巡线机器人伺服控制系统 |
| |
| 引用本文： | 白玉成,吴功平,肖晓晖,肖华.基于DSP的高压巡线机器人伺服控制系统[J].电力电子技术,2005,39(2):103-105. |
| |
| 作者姓名： | 白玉成 吴功平 肖晓晖 肖华 |
| |
| 作者单位： | 1. 武汉大学,湖北,武汉,430072
2. 武汉大学,湖北,武汉,430072;华中科技大学,湖北,武汉,430074 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| |
| 摘 要： | 在分析和研究高压巡线机器人原控制器的基础上,设计了一种基于DSP 的全数字化控制器。该控制器采用主从式多处理器工作模式,用6 个DSP 对机器人12 个关节的无刷直流电机进行伺服控制,采用高速CAN 总线实现上位机和下位机的通讯。与原控制器相比,该控制器具有较高的集成度和优良的性价比,便于降低成本,减少机电系统体积。试验表明,该控制器性能稳定可靠,可满足机器人多轴控制的需要。
|
| 关 键 词： | 无刷直流电动机 伺服控制 机器人/数字信号处理 |
| 文章编号： | 1000-100X(2005)02-0103-03 |
| 修稿时间： | 2004年12月15 |
Research on Servo Control System of High Voltage Cable Patrolled Robot based on DSP |
| |
| BAI Yu-cheng,WU Gong-ping,XIAO Xiao-hui,XIAO Hua.Research on Servo Control System of High Voltage Cable Patrolled Robot based on DSP[J].Power Electronics,2005,39(2):103-105. |
| |
| Authors: | BAI Yu-cheng WU Gong-ping XIAO Xiao-hui XIAO Hua |
| |
| Abstract: | A type of full-digital controller using DSP was designed,which was based on analyzing and researching the former controller of high voltage cable patrolled robot.The controller possessed principal and subordinate mode.Six DSPs wers used to servocontrol twelve BLDC motor in the joint of robot.High speed CAN bus was applied to keep communication between the principal part and subordinate part.Comparing with the former controller,this controller has many advantages,such as high degree integration,excellence performance at low cost,occupying litter room.The experiment indicates that the controller performs credibility and can meet the requisition of robot controlling. |
| |
| Keywords: | brushless DC motor servo control robot/DSPFoundation Project:Supported by National 863 Foundation of China (No 2002AA420110) |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
