| 微型足球机器人的运动控制系统设计 |
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| 引用本文： | 曹建树,申爱明,黄光明. 微型足球机器人的运动控制系统设计[J]. 机电一体化, 2008, 0(3): 61-63 |
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| 作者姓名： | 曹建树 申爱明 黄光明 |
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| 作者单位： | 1. 北京石油化工学院机械工程系,北京,102617
2. 中国石油工程建设集团公司,北京,100011 |
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| 摘 要： | 介绍了微型机器人足球赛中足球机器人的结构和控制方法，主要研究了小车的基于DSP的运动控制系统。综合考虑足球机器人底层运动控制系统的性能要求，采用TI公司的电机数字控制专用数字信号处理器（DSP）TMS320F2812芯片作为主控芯片，大大提高了控制系统的各项性能指标。基于该方案而设计的微型足球机器人小车运动控制器在实验室足球机器人比赛中已采用，运行取得了良好的效果。
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| 关 键 词： | TMS320F2812 足球机器人 运动控制系统 |
Design of Control System for Mirosot Robot |
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| Abstract: | The mechanical structure and the architecture of control system are introduced in the paper. The control system is based on DSP. The performance of a robot is mainly affected by control system architecture. Considering about the performance and the parameters required of the robots used in MIROSOT and in order to win the game, TMS320F2812 chip is chosen for use as master controller to control the movements of the robots. TMS320F2812 is such a kind of 32bit DSP controller specially used for digital motor control. It is made by Texas Instruments. Its strong digital processing ability and the integration of the applications of interfaces optimize the parameters and performances of the control system. The control system designed in the paper is applied in the robots at lab, and it works well. |
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| Keywords: | TMS320F2812 football-playing robot movement control system |
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