| 管道机器人三轴差速器性能测控系统 |
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| 引用本文： | 陈宏钧,鲁思兆,姜生元,张晓华.管道机器人三轴差速器性能测控系统[J].控制工程,2011,18(1):123-127. |
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| 作者姓名： | 陈宏钧 鲁思兆 姜生元 张晓华 |
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| 作者单位： | 1. 哈尔滨工业大学电气工程学院,黑龙江,哈尔滨,150001
2. 北华大学机械工程学院,吉林,吉林,132021 |
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| 基金项目： | 国家863计划资助项目(2006AA04Z236) |
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| 摘 要： | 为了测试新研制机械自适应管道机器人的三轴差速器性能,根据测试要求,设计了基于ARM和FPGA的测试和控制系统.由ARM完成整个系统的控制和数据的存储,而FP-GA完成7路码盘信号的鉴相和计数.介绍了正交脉冲鉴相、FPGA多轴同步计数及其与ARM的接口、数据存储系统等部分的硬件电路设计.与传统的微控制器外扩专用计数芯片相...
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| 关 键 词： | 三轴差速器 测试系统 管道机器人 |
Measurement and Control System on Tri-axial Differential Units of Pipeline Robot |
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| CHEN Hong-jun,LU Si-zhao,JIANG Sheng-yuan,ZHANG Xiao-hua.Measurement and Control System on Tri-axial Differential Units of Pipeline Robot[J].Control Engineering of China,2011,18(1):123-127. |
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| Authors: | CHEN Hong-jun LU Si-zhao JIANG Sheng-yuan ZHANG Xiao-hua |
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| Affiliation: | CHEN Hong-jun1,LU Si-zhao1,JIANG Sheng-yuan2,ZHANG Xiao-hua1(1.Department of Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China,2.Department of Mechanical Engineering,Beihua University,Jilin 132021,China) |
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| Abstract: | In order to test the tri-axial differential unit performance of a new adaptive pipeline robot,according to its measurement requirements,a measurement and drive control system are presented based on ARM and FPGA.ARM realizes the control algorithm of the system and data storage,while FPGA acquires the seven channels encoder data.Then the hardware circuit design including orthogonal pulse phasing,multi-axis synchronization count based on FPGA and the interface with ARM,data storage systems is introduced.Compar... |
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| Keywords: | tri-axial differential unit measurement system pipeline robot |
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