摘要
基于嵌入式系统与DSP技术,设计实现了一种用于非侵入式安装的工程机械驾驶机器人的可视化无线遥控系统。从总体方案、硬件电路和控制算法三方面进行了详细设计;利用TMS320F2812的高速运算能力和高效的电机控制外设,单芯片实现了9轴电机驱动;针对无线遥控可能产生的控制时延问题,对控制算法采取了相应优化措施,实现了遥控端操纵动作与现场车辆动作间的延时小于15 ms的控制性能。
Based on the embedded system technology and DSP technology, this paper designed and implemented a visual wireless remote control system for robot drivers that can be mounted non-intrusively in driver's cab of construction machinery. It designs concretely the general planning, hardware circuit and control algorithm of the visual wireless remote control system; With the high speed computing power and efficient motor control peripherals of TMS320 F2812, single IC TMS320 F2812 drives 9 axis motors; Aimed at the control delay that may happened because of using the wireless remote control technology, the appropriate optimization measures are taken for the control algorithm. At last, the control delay between the operating action time at the control end of remote control and the construction machinery's action time is limited to less than 15 milliseconds.
出处
《控制工程》
CSCD
北大核心
2017年第S1期1-7,共7页
Control Engineering of China
基金
解放军陆军工程大学野战工程学院青年科学基金资助项目
