基于DSP的全向运动控制系统软件的设计毕业设计论文.docVIP

 基于DSP的全向运动控制系统软件设计 Software Design of Omni-directional Motion Control System Based on DSP 基于DSP的全向运动控制系统软件设计 Software Design of Omni-directional Motion Control System Based on DSP 学 院（系）： 专 业： 学 生 姓 名： 学 号： 指 导 教 师（职称）： 评 阅 教 师： 完 成 日 期： 基于DSP的全向运动控制系统软件设计 自动化专业TMS320LF2407A核心控制芯片，以CCStudio V3.3软件为开发平台，在了解RoboCup中型组足球机器人和其他全向机器人的基础上，主要完成了全向运动控制系统的软件设计。通过对全向运动控制系统的研究，建立了三轴全向运动学数学模型，并对整体平移运动、原地旋转运动、边平移边旋转三种运动方式进行分析和数学建模；利用上位机，经无线模块发送运动方式和各种运行参数，控制运动系统实现各种运动模式；经全向运动控制系统软件的编写和与相关硬件联机调试，系统实现了预订的全向运动形式。通过试验验证和结果分析，各种运动状态的准确性已达到性能的基本要求。 [关键词运动控制－This article is based on The TMS320LF2407A in the series of DSP C2000 as the control core chip and the software of CCStudio V3.3 as the development platform. It is basis on the understanding of medium-sized group about soccer robot in Robocup and other omnidirectional robot, mainly accomplish the software design of a Omni-directional Motion Control System. Through the research to the motion control system, motion control system was established to all three axis kinematics mathematic model, build the mathematical modeling and analysis three kind of movement ,which include the whole translation movement, spin around movement and edge translation and rotating.Using the PC, The wireless module to send the movement and a variety of operating parameters, control motion system to achieve a variety of motion modes; By the whole motion control system software to write and online calibration with relevant hardware, the system realized the omnidirectional movement we expected. Through the results analysis and experimental verification, the accuracy have already meet requirements of various sports state. Key Words: DSP; omnidirectional motion control; mathematical modeling; MATLAB simulation; serial communication；software design 目 录 1 引言 1 1.1 全向运动控制系统发展现状 1 1.2 本课题的研究意义及前景 2 1.3