机器人驱动控制系统设计.doc

摘　　要 机器人技术作为信息技术和先进制造技术的典型代表和主要技术手段，已成为世界各发达国家竞相发展的高技术手段。本论文以CCTV第届全国大学生机器人电视大赛为背景，论述了机器人的整个过程以及其中涉及到的专业知识。论文首先介绍了课题研究的背景，阐述其与专业的关系，并。接着论文从硬件和软件两方面着手，叙述了涉及到的电控知识，包括基本元件功能与应用、电机驱动电路设计与应用、和PID调节原理与应用等。最后，针对平时调试中出现的问题，论文予以汇总，包括抗干扰问题的研究一些软件处理方式。论文主要有两个侧重点。一是 Abstract Robotics as information technology and advanced technology and manufacturing of major technical means to have become the world developed countries have the development of high technology. The paper according to the tenth session of CCTV-University Robot Contest in the background, such a direct motor driver control system design and the whole process involves professional knowledge. Paper introduces the first issue of the background, its relations with specialized knowledge and analysis of the request and issues. the paper from the hardware and software two aspects to, a direct motor driver control system involves electrical control system knowledge, including basic component features and application, the driving circuit design and PID the principles and applied etc. Finally, against the usual problems in the paper to be collected, including confers resistance to electromagnetic interference of the study and some software handling. Paper there are two major focus. One is a direct motor driver controller hardware design , specific hardware unit has a system of the controller and the serial data communication system, power system, speed in the circuit, current gathering circuit, isolating circuit, reversible motor control circuit etc. Another focus of the close link the control of the software design , software is based on the platform for ARM7, the use of digital pid control algorithmsspeed of the current and direct machinery velocity modulation system . Key Words：Robot , Motor driver, ARM 7, PID controller, Double closed loop.目录 引　　言 。 本文将从技术的国内外研究现状入手，针对本次第届亚太大学生机器人大赛，详细论述机器人控制系统及其实现。基本思想是利用自带的PWM口，通过调整PWM的占空比，控制电机的电枢电压，进而控制。系统硬件设计为：以为核心，由转速环、、等电路组成。 论文的各个部分组织如下： 第一章 绪论，简述本课题背景与意义。 第二章论述。 第三章，。 第四章 系统的设计与