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| 轮式机器人控制系统设计 | |
| 引用本文： | 杨春雷,宋玉龙,张腾,杨姗姗.轮式机器人控制系统设计[J].电子设计工程,2011,19(24):187-189,192. |
| 作者姓名： | 杨春雷 宋玉龙 张腾 杨姗姗 |
| 作者单位： | 1. 西北工业大学电子信息学院,陕西西安,710129 2. 西北工业大学计算机学院,陕西西安,710129 3. 西北工业大学自动化学院,陕西西安,710129 |
| 摘 要： | 设计了一套基于直流电机的轮式机器人大功率驱动控制系统。本系统采用双H桥结构驱动两个电机,并以AVR单片机Atmega168为处理器实现电机控制。通过单片机定时器的快速PWM(脉宽调制)模式输出不同占空比的PWM信号,送给H桥,从而控制电机的转速。本系统以DXP2004为平台设计了电路原理图和大功率PCB(印刷电路板),并使用AVR Studio和WinAVR工具配合开发单片机程序,电路实测达到10 A以上驱动电流。 |
| 关 键 词： | 轮式机器人 双H桥 Atmega168 快速PWM模式 |
Wheeled robot control system design |
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| YANG Chun-lei,SONG Yu-long,ZHANG Teng,YANG Shan-shan.Wheeled robot control system design[J].Electronic Design Engineering,2011,19(24):187-189,192. | |
| Authors: | YANG Chun-lei SONG Yu-long ZHANG Teng YANG Shan-shan |
| Affiliation: | 1.The Electronic and Information School of Northwestern Polytechnical University,Xi’an 710129,China; 2.The Computer School of Northwestern Polytechnical University,Xi’an 710129,China; 3.The Automation School of Northwestern Polytechnical University,Xi’an 710129,China) |
| Abstract: | In this article, a set of high power drive and control system for wheeled robot＇s DC motor is designed. This system uses dual H bridge to drive the two motors, and AVR microprocessor atmega168 to control them. Specifically, the microprocessor＇s Timer/Counters work at fast PWM mode, then ouput the PWM signals with different duty ratio to H bridges to control the motors＇ speed. In this system, the circuit＇s schematic and its high power PCB are designed on DXP2004 platform. What＇ s more, the program is developed with the help of AVR Studio and WinAVR tools. In actual tests, the system can reach more than 10 A drive current. |
| Keywords: | wheeled robot dual H bridge Atmega168 fast PWM mode |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |