基于dsPIC30f4012的越障小车控制系统设计

摘要

According to the performance requirements of obstacle-navigation car, the characteristics of the motion control system were analyzed, and the distributed motor control system based on CAN bus was used. The car's main controller and controller unit of the drive wheel were designed. The digital signal controller dsPIC30f4012 with higher cost performance was selected as the master and slave controller processor. The communication between the main controller and each joint movement was achieved through the CAN bus. Tests proved that the system design was reasonable with good response and control accuracy, and the operation requirements of the obstacle-navigation car were met.%根据越障小车的性能要求,分析其运动控制系统的特点,采用基于CAN总线的分布式电机控制系统,设计了监控云台的主控制器和驱动轮的单元控制器.选用了性价比较高的数字信号控制器dsPIC30f4012在作为主、从控制器的处理器,通过CAN总线实现了主控制器和各个运动关节的驱动控制器之间的通讯.试验证明该系统设计合理,具有良好的响应速度和控制精度,可以满足越障小车运行要求.