| 仿袋鼠跳跃机器人用关节运动控制器设计 |
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| 引用本文： | 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. |
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| 作者姓名： | 郭本振 李声晋 卢刚 |
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| 作者单位： | 西北工业大学机电学院; |
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| 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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| 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...
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| 关 键 词： | DSP PWM 关节运动控制器 积分分离PID |
Design of Joint Motion Controller Used in Hopping Kangaroo Robot |
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| GUO Ben-zhen,LI Sheng-jin,LU Gang.Design of Joint Motion Controller Used in Hopping Kangaroo Robot[J].Measurement & Control Technology,2011,30(2):38-41. |
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| Authors: | GUO Ben-zhen LI Sheng-jin LU Gang |
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| Affiliation: | GUO Ben-zhen,LI Sheng-jin,LU Gang (School of Mechatronics,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | 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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| Keywords: | DSP DWM joint motion controller integral separation PID |
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