摘要
在温室的三维干涉环境中,应用硬件技术实现移动机器人的实时响应性、鲁棒性和对复杂作业环境的适应能力,以及多电动机协调驱动算法和高效智能控制算法等。采用面向数字控制应用的DSP芯片TMS320LF2407作为主控芯片,由DSP发出电动机PWM控制信号,将其他传感器及数控接口集成到CPLD芯片EPM7128上,由CPLD输送到DSP,完成驱动系统的闭环控制。在提高性能的前提下,整个控制器硬件结构变得简单、经济、可靠。
In order to achieve real-time response, robustness and accommodation to complex work, multi-motor harmony driven algorithm and efficient intelligence controlling algorithm, applied hardware technology to a mobile robot in three-dimensional interference of greenhouse, in the design of motor controller robot control circuit based on DSP-TMS320LF2407 as main chip, which adopts PWM digital signal as its control signal, other sensor and NC interface integrate to CPLD-EPM7128, and transmit from CPLD to DSP, complete closed loop control, on the premise of high capability, the whole controller hardware structure become simple, economical, and credible.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第3期87-90,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
"十五"国家科技攻关计划资助项目(项目编号:2004BA524B0302)
关键词
温室
机器人
控制系统
硬件
Greenhouse, Robot, Controlling, Hardware
