摘要
介绍了移动机器人的本体结构和ＴＭＳ３２０Ｃ３１ 的性能特点，并设计了以ＴＭＳ３２０Ｃ３１为核心的移动机器人的控制系统，包括硬件结构、左右轮控制器以及伺服驱动系统。该控制系统可以方便地实现移动机器人所特有的高级控制算法（例如点镇定控制等），具有采样周期短、控制精度高、系统可靠性好等优点。
The mechanical body of a mobile robot and the characteristics of TMS320C31 are described, and the robot control system, the hardware structures, L/R wheel controller and servo drive system are designed based on C31. The dedicated advanced control algorithm such as point stabilization control can be implemented expediently with this control system, featuring with short sampling period, high control precision and reliable system performance. DSP software programming method is also given.
基金
国家自然科学基金
