机器人驱动控制系统设计.doc

河北工程大学毕业设计说明书 PAGE PAGE 9 - PAGE 9 - 摘　　要 机器人技术作为信息技术和先进制造技术的典型代表和主要技术手段，已成为世界各发达国家竞相发展的高技术手段。 本论文以CCTV“第十届全国大学生机器人电视大赛”为背景，论述了机器人直流电动机驱动控制系统设计的整个过程以及其中涉及到的专业知识。 论文首先介绍了课题研究的背景，阐述其与专业知识的关系，并分析了课题要求及意义。接着论文从硬件和软件两方面着手，叙述了直流电动机驱动控制系统涉及到的电控知识，包括基本元件功能与应用、电机驱动电路设计与应用、和PID调节原理与应用等。最后，针对平时调试中出现的问题，论文予以汇总，包括抗干扰问题的研究以及一些软件处理方式。 论文主要有两个侧重点。一是直流电动机驱动控制器硬件设计：具体硬件有系统主控制器、串行数据通信系统、电源系统、速度采集电路、电流采集电路、隔离电路、可逆电机控制电路等。另一个重点是双闭环控制的软件设计：软件的实现是基于ARM7平台下，采用数字PID控制算法实现转速、电流双闭环直流调速系统。 关键词：机器人、电机驱动、ARM7、 关键词：机器人、电机驱动、ARM7、PID控制、双闭环 Abstract Robotics as information technology and advanced technology and manufacturing of major technical means to have become the world developed countries have the development of high technology. The paper according to the tenth session of CCTV-University Robot Contest in the background, such a direct motor driver control system design and the whole process involves professional knowledge. Paper introduces the first issue of the background, its relations with specialized knowledge and analysis of the request and issues. the paper from the hardware and software two aspects to, a direct motor driver control system involves electrical control system knowledge, including basic component features and application, the driving circuit design and PID the principles and applied etc. Finally, against the usual problems in the paper to be collected, including confers resistance to electromagnetic interference of the study and some software handling. Paper there are two major focus. One is a direct motor driver controller hardware design , specific hardware unit has a system of the controller and the serial data communication system, power system, speed in the circuit, current gathering circuit, isolating circuit, reversible motor control circuit etc. Another focus of the close link the control of the software design , software is based on the platform for ARM7, the use of digital pid control algorithmsspeed of the current and direct machinery velocity modulation syste