简易单轴运动控制模块开发及其应用-development and application of simple uniaxial motion control module.docxVIP

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简易单轴运动控制模块开发及其应用-development and application of simple uniaxial motion control module.docx

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简易单轴运动控制模块开发及其应用-development and application of simple uniaxial motion control module

AbstractThe inverted pendulum is a typical laboratory equipment in the research of automatic control theory. With demand for portable facility, traditional inverted pendulum can not meet user’s requirement, so portable inverted pendulum emerges. But most traditional motion controller use PCI or ISA bus, with complex installation, inferior expansibility,high cost and etc shortage, which can not satisfy the requirement of portable design. So this paper proposes that using TMS320F2812 and CY7C68013 to design a simple single-axle motion-controlled module for driving single way motor, high-speed data acquisition and processing. The module makes USB2.0 bus communicate with the host computer, it help to solve many key issues, such as low-cost, high-speed transmission and Plug and Play. It also provides an effective technical method for portable design. The motion-controlled module has been successfully applied to portable linear inverted pendulum in Shenzhen Reinovo Technology Co.,Ltd.This paper is main to research the developing of single-axle motion-controlled module, and applying to portable linear inverted pendulum. This thesis arranges for the content as follows:Chapter one is introduction, giving an outline of the development of current biomedical engineering and application and development of motion control technology in biomedical engineering field. Chapter two is hardware system design of the module. The hardware mainly includes five module, main control module, driver module,status acquisition module, USB communication module and I/O module. Chapter three emphatically introduce software design of the system. Software includes main controlled chip DSP control program, USB driving program and control system program of PC. It contains program flow chart and some key code. Chapter four emphatically introduce application of module. Applying the motion-control led to portable linear inverted pendulum, make it to be checked in practice. Chapter five summarizes and lo