擂台机器人运动控制系统的设计精要.doc

第一章 绪论  PAGE 4  PAGE III 擂台机器人运动控制系统的设计 摘　要 本文论述了一个以凌阳SPCE061A单片机和国家半导体LMD18200电机驱动芯片为控制核心的擂台机器人运动控制系统的硬件设计及软件开发的过程。首先介绍了擂台机器人在我国的发展现状以及未来的发展趋势，并对南京工业大学机器人武术擂台赛项目竞赛规则加以说明。接着阐述了系统的设计思路并通过介绍所使用的各元件的规格、参数、性能等对选型条件和理由加以说明。之后分别介绍了硬件电路和基于该电路的软件的工作流程和设计思想，主要包括电机的基本控制原理、PWM信号的产生和处理、系统电源的分配设计等。并在附录中附有使用CAD软件(Protel99 SE)绘制的系统原理图和印刷电路板，以及以C语言和汇编语言编写的基本驱动控制程序。 关键词：擂台机器人　SPCE061A单片机　LMD18200电机驱动芯片　PWM控制 　 The design of a tournament robot’s motion control system Abstract This thesis introduces the hardware and software design process of a tournament robot’s motion control system which based on SPCE061A(Sunplus) and LMD18200(National Semiconductor). It introduces the current situation and prospects in future of tournament robot’s development in China, and the rules of robot combat tournament in Nanjing University of Technology. Moreover, it elaborates the system’s design philosophy and introduces the properties of components which are in use to illustrate the reason of choice. In addition it describes the circuit and the software which based on it. Mainly about the basic motor control theory, PWM signal generation and processing, power distribution system design. And in the appendix attached to schematic drawing and PCB drawing of the system as well as the basic motor driving programs in C and assembly language. Keywords: Tournament robot; MCU SPCE061A; Motor driving chip LMD18200; PWM control; 目　　录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc231977722 摘　要  PAGEREF _Toc231977722 \h I  HYPERLINK \l _Toc231977723 Abstract  PAGEREF _Toc231977723 \h II  HYPERLINK \l _Toc231977724 第一章　绪 论  PAGEREF _Toc231977724 \h 1  HYPERLINK \l _Toc231977725 1.1概述  PAGEREF _Toc231977725 \h 1  HYPERLINK \l _Toc231977726 1.2南京工业大学机器人武术擂台赛项目竞赛规则简介  PAGEREF _Toc231977726 \h 1  HYPERLINK \l _Toc231977727 1.3主要的任务和目标  PAGEREF _Toc231977727 \h 2  HYPERLINK \l _Toc231977728 第二章　擂台机器人运动控制系统的硬件设计  PAGEREF _Toc231977728 \h 3  HYPERLINK \l _Toc231977729 2.1实现功