基于ARM的嵌入式系统在竞赛机器人资料.doc

摘 要 本次课程设计以全国机器人大赛为背景，设计一个能在静止的场地上有目运动的机器人。其研究内容是：为了提高系统的高速实时性、可扩展性和可移植性，将传统的8位机的C51控制平台改为基于ARM的32位微处理器控制平台，在此硬件系统上成功地进行了相应的软件设计和控制算法的研究。 本次课程设计主要的工作有两部分： 首先，分析了竞赛机器人底层控制系统的设计要求，制定了ARM7系列下的以LPC2131微处理器为核心的系统设计方案。 其次，论文重点阐述了竞赛机器人控制系统的硬件和软件设计原理，主要包括以ARM7嵌入式处理器为核心的系统组成结构和以步进电机驱动为主的控制模块的设计。该结构和模块都是基于全国机器人竞赛的主题目标设计的。本次课程设计对核心器件的选型，单元电路的设计，控制原理以及控制算法都进行了详尽的说明。本次课程设计完成了ADSl.2集成开发环境下DebuglnFLASH调试平台搭建,该平台在全国机器人大赛上得到了验证。 本次课程设计的特色之处在于将低功耗、高性能、外设裁减容易、I/O接口丰富的嵌入式MCU与控制算法相结合，设计出较为完善的竞赛机器人控制系统，简化了系统的设计，满足机器人比赛的要求，而且具有良好的扩充性和可移植性，为建立系统级的通用控制平台打下了基础。 关键词：机器人 嵌入式MCU ARM LPC2131 步进电机 Abstract This course is designed to national robot contest as the background, design a site on the stationary motion of the robot head. Their research are: to improve the systems high-speed real-time performance, scalability and portability, the traditional 8 C51 machine control platform to ARM-based 32-bit microprocessor control platform, the success of this hardware system carried out the corresponding software design and control algorithm.The main work of curriculum design has two parts:First, the analysis underlying competition robot control system design requirements, developed under the order LPC2131 ARM7 family microprocessor as the core of the system design.Secondly, the paper focuses on the competition robot control system hardware and software design principles, including the ARM7 embedded processor as the core of the system architecture and to stepper motor driver based control module design. The structure and the modules are based on the theme of the National Robotics Competition target design. This course is designed for the core of the device selection, unit circuit design, control theory and control algorithms have carried out a detailed description. This course is designed to complete the ADSl.2 integrated development environment DebuglnFLASH debugging platform to build the platform in the national robotics contest has been verified.The course design features is that the low-pow