| 多路高精度机器人控制器软硬件设计及优化 |
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| 引用本文： | 李训栓,刘航,冯娟娟.多路高精度机器人控制器软硬件设计及优化[J].大学物理实验,2017,30(2). |
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| 作者姓名： | 李训栓 刘航 冯娟娟 |
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| 作者单位： | 兰州大学,甘肃 兰州,730000 |
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| 基金项目： | 2016国家级大学生创新创业计划项目 |
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| 摘 要： | 为实现多路高精度伺服电机驱动控制,设计了由软件和硬件组成的机器人控制器系统。控制器包括ATMEGA8微处理器搭配74HC595的硬件结构和冒泡算法两部分,可以产生多达32路的PWM信号,但测试结果显示输出信号精度不高。为进一步提高PWM控制信号的输出精度,将软硬件进行了优化,设计了以STM32微处理器为核心采用定时器分时算法的控制器。该控制器利用4个定时器并行输出多达32路的高精度PWM信号,在机器人和自动控制领域有很好的应用前景。
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| 关 键 词： | 机器人 PWM 伺服电机 微处理器 |
Design and Optimization of Hardware and Software of Multi-channel High Precision Robot Controller |
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| LI Xun-shuan,LIU Hang,FENG Juan-juan.Design and Optimization of Hardware and Software of Multi-channel High Precision Robot Controller[J].Physical Experiment of College,2017,30(2). |
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| Authors: | LI Xun-shuan LIU Hang FENG Juan-juan |
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| Abstract: | In order to achieve the multi-channel high precision control of servo motors,the robot control system including software and hardware was designed.The controller includes ATMEGA8 microprocessor with 74HC595 hardware structure and bubble sorting algorithm.The PWM signal channels can reach as many as 32,but the signal accuracy is not high.In order to further improve the output precision of PWM signal,the software and hardware were optimized.A new controller based on STM32 microprocessor and timer-separating algorithm was designed.4 timers were used in this new controller to output up to 32 high precision PWM signals,which makes the new controller has a good application prospect in the field of robot and automatic control. |
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| Keywords: | robot PWM servo motor microprocessor |
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