【正文】 摘 要 I 摘 要 近年來 ， 移動機器人應(yīng)用范圍越來越廣泛 ， 已經(jīng)被用于人類 生活的各個領(lǐng)域 ， 而應(yīng)用移動機器人完成偵查、排爆及消防等危險任務(wù)已 經(jīng)成為各國研究的重點。隨著移動機器人的智能化程度越來越高 ， 對機器人控制器的要求也在不斷提高 ， 這就要求控制器具有良好的實時性和快速響應(yīng)能力。 本次 設(shè)計了一款全數(shù)字控制的小型地面移動機器人運動控制器 ， 具有控制、功率驅(qū)動及各種保護等功能。 采用 ARM9 作為 運動控制器的 主控芯片 ， DSP 作為分布式控制芯片 ， 重點設(shè)計了 DSP 控制器的硬件電路。 這些電路包括 DSP 最小系統(tǒng)、電機驅(qū)動、電機電流檢測、電機 位置檢測 及電機過壓欠壓保護 ， 并對其主要電路進行了詳細的分析。 ARM 主 控制器 與 DSP 分布式 控制器 之間利 用 CAN 總線進行通信 。 采用速度環(huán)及電流環(huán)的雙閉環(huán)控制 ， 并且引入 積分分離 PID 控制作為速度調(diào)節(jié)器的控制算法 ， 對傳統(tǒng)的 PID 控制進行了改進 。 在設(shè)計硬件電路和控制算法基礎(chǔ)之上 ， 完成了 DSP 控制軟件的設(shè)計。軟件設(shè)計主要包括主程序設(shè)計 及各種中斷子程序設(shè)計。中斷子程序又包括電機換相及速度計算子程序、 PWM 輸出子程序 、 速度控制子程序 、 CAN 總線 通信子程序 等。 關(guān)鍵詞： 移動機器人， ARM9， DSP 運動控制器，無刷直流電機， PWMABSTRACT II Abstract In present, the mobile robot has been aplied more and more widely. It has been used in all human life. It has bee the focus study to plete the dangerous tasks such as investigation, remove exploder and fire protection with mobile robot. With the mobile robot being more and more intelligent, the requirment of motion controller has been improved increasingly. It requires the controller with good realtime and rapid response capacity. The study had designed a motion controller of mobile robot with fully digital control system. It had the function of control, power driver and various overload protection. The ARM9 processor was used in the motion controller as main mand chip and DSP chips as the distributed controllers. The hardware circuits of DSP controller had been designed. It included the least control circuit of DSP, the circuit of motor drive, check current, position detection of motor, overvoltage and undervoltage protection. The main circuits had been analyzed detailed. The main processor ARM9 and distributed processors DSP using CAN bus municate with each other. The motion controller had double closed loops which were speed loop and current loop. The traditional PID control had been improved. The integral separation PID control had been used in the speed reguator. Based on the hardware circuits and the control arithmetic, the software design of the DSP controller had been pleted. It included the main program and various subprograms of interrupt. The program of motor munication, speed calculation, PWM output, speed control, munication with CAN and so on were also included in the subprogram. Key words: Mobile Robot, ARM9, DSP Motion Controller, BLDCM, PWM目 錄 III 目 錄 摘 要 ........................................................................................................................... I ABSTRACT ................................................................................................................. II 目 錄 ......................................................................................................................... III 第一章 緒 論 .............................................................................................................1 課題設(shè)計的意義 .................................................................................................1 課題來源及國內(nèi)外研究現(xiàn)狀 ............................................................................1 課題設(shè)計的主要內(nèi)容 ........................................................................................2 第二章 控制系統(tǒng)總體概述 .........................................................................................3 移動機器人運動控制系統(tǒng)總體結(jié)構(gòu) ................................................................3 電機的選擇 ........................................................................................................4 步進電機、有刷直流電機及無刷直流電機比較 .....................................4 無刷直流電機結(jié)構(gòu)及工作原理 .................................................................5 無刷直流電機的數(shù)學(xué)模型 .........................................................................7 第三章 控制系統(tǒng)硬件電路設(shè)計 ...............................................................................10 控制系統(tǒng)電源設(shè)計 ..........................................................................................10 驅(qū)動板電源設(shè)計 .......................................................................................10 DSP 供電電源專用芯片的匹配電源設(shè)計 .............................................11 ARM9 主處理器概述及其與 CAN 總線的連接簡介 .....................................12 ARM9 處理器概述 ....................................................................................12 ARM9 處理器 S3C2410X 與 CAN 總線的連接 ......................................12 DSP 分布式控制器與 DSP 最小系統(tǒng)設(shè)計 ......................................................13 TMS320F2812 DSP 芯片簡介 ...................................................................14 DSP 最小系統(tǒng)設(shè)計 ....................................................................................15 CAN 功能模塊硬件設(shè)計 ..................................................................................20 PWM 信號隔離及驅(qū)動電路 .............................................................................22 主電路設(shè)計 ......................................................................................................23 電流檢測電路設(shè)計 ..........................................................................................25 轉(zhuǎn)速及轉(zhuǎn)子位置檢測電路設(shè) 計 ......................................................................26 目 錄 IV 第四章 控制系統(tǒng)軟件設(shè)計 .......................................................................................28 軟件開發(fā)環(huán)境 ..................................................................................................28 主程序設(shè)計 ......................................................................................................28 中斷服務(wù)程序設(shè)計 ..........................................................................................30 中斷捕獲模塊 ............................................................................................30 PWM 產(chǎn)生模塊 ..........................................................................................32 定時器 1 中斷模塊 ...................................................................................3