摘要
执行元件的伺服系统性能将决定机器人的性能。基于AVR系列单片机,并应用积分分离技术,设计离散PI调节器,输出PWM控制信号,建立驱动电机的速度伺服控制系统。使用AVR-GCC编译软件开发伺服系统软件,设定速度采样频率为2KHz,实现对电机速度的实时控制。与基于51系列单片机开发的伺服系统相比,本系统所需的外围电路更简单,数据处理速度更快。实现了机器人响应快速,移动平稳。该伺服系统的开发尤其适用于智能移动机器人,还可以广泛应用于其它智能设备和生产线。
The performance of servo systems will determine the property of the robot. Based on AVR series MCU, the velocity servo system for driving motor is created in this paper, including a discrete PI regulator which will work out a PWM control signal with applying the skill of integral separation. The velocities of motors will be controlled real - time with the speed sampling frequency set for 2KHz by using the AVR - GCC compiler software development. Compared to the servo system development based on the 51 Series MCU, the system here has these advantages of simpler peripheral circuit and faster data processing. The experiments demonstrate that, the mobile robot runs stably and smoothly by the control of AVR units, and that the design proposal especially benefits the development of intelligent mobile robots, also can be widely used in the development of other smart devices and product lines.
出处
《微处理机》
2010年第3期83-86,共4页
Microprocessors
