摘要
本文结合仿生液压四足机器人的研发指标,设计了基于STM32F405的分布式电液伺服控制器。控制器伺服总线基于双CAN总线设计,将控制指令总线和状态反馈总线独立分离,并基于CAN总线通信协议设计了单帧伺服指令。设计了纯数字伺服阀驱动电路,使用PWM驱动MOSFET全桥方式实现。实验结果证明,仿生液压四足机器人电液伺服控制器符合预期的性能指标要求,达到预想的设计效果。
The paper designs a distributed electro-hydraulic servo controller based on STM32F405, combining with the parameters of hydraulic driven bionic quadruped robot. The servo bus is designed based on dual CAN bus,it separates the state feedback bus and control instruction bus, and the servo command is designed based on the CAN bus communication protocol. A pure digital servo valve drive circuit is designed,which uses PWM to drive the MOSFET full bridge. Experimental results show that the distributed electro-hydraulic servo controller can reliably complete the motion control and servo control tasks.
出处
《单片机与嵌入式系统应用》
2015年第7期53-56,共4页
Microcontrollers & Embedded Systems
