| 两栖机器人驱动装置控制器设计 |
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| 引用本文： | 余元林,俞建成,郭威. 两栖机器人驱动装置控制器设计[J]. 微计算机信息, 2010, 0(11) |
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| 作者姓名： | 余元林 俞建成 郭威 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院研究生院; |
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| 基金项目： | 基金申请人:俞建成;项目名称:轮桨腿一体化两栖机器人研究;基金颁发部门:国家自然科学基金(60605029) |
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| 摘 要： | 轮桨腿一体化两栖机器人驱动装置独特。为满足其控制性能要求,设计开发了基于ARM7的驱动装置控制器,引入了旋转变压器及其数据采集电路和CAN总线接口。这种控制器可以同时控制两路直流无刷电机,具有控制精度高、反应速度快、模块化程度高等特点,很好地满足了两栖机器人实时、精确控制的要求。
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| 关 键 词： | 两栖机器人 控制器 旋转变压器 CAN总线 |
Controller design of drive device of the Amphibious Robot |
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| YU Yuan-lin YU Jian-cheng GUO Wei YU Yuan-lin. Controller design of drive device of the Amphibious Robot[J]. Control & Automation, 2010, 0(11) |
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| Authors: | YU Yuan-lin YU Jian-cheng GUO Wei YU Yuan-lin |
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| Affiliation: | (State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China) YU Yuan-lin YU Jian-cheng GUO Wei (Graduate School of the Chinese Academy of Sciences,Beijing100049,China) YU Yuan-lin |
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| Abstract: | The drive device of the Wheel-Paddle-Leg Integration Amphibious Robot is fairly unique. To fulfill the requirements of its control performance, a kind of controller based on ARM7 is developed, on which a resolver sampling circuit and a CAN bus interface are appended. This controller can control two brushless DC motors at the same time. Meanwhile it has high control precision, response rate and integration level, which guarantees the real-time and precise control of the amphibious robot. |
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| Keywords: | amphibious robot controller resolver CAN bus |
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