基于ARM的多自由度控制装置研究

摘要

为满足微小型车辆和机器人控制实时性及功能扩展性的需求,设计了一种控制装置,能实现某小型履带式车前后行进、转向和天线升降、旋转等多个自由度的控制.文中分析了被控对象,提出控制装置的软硬件设计方案,以ARM7为微处理器,以μC/OS-Ⅱ嵌入式实时操作系统为软件平台.介绍了微处理器模块、传感器模块、执行模块和遥控模块,实现了系统的PID控制算法及基于MiniGUI的图形用户界面程序开发.控制装置可满足对控制实时性和智能化的要求,具有操作灵活、界面友好、功耗低、体积小等特点,为小型车辆和机器人的控制系统设计提供了一种新颖的方法.%To meet the demand of real time control and function extend of micro vehicle and robot,designed a multi-degree of freedom (DOF) controller, which can control DOF movements of a micro tracklayer. Studied the tracklayer and the scheme of hardware/software design is proposed. The controller was designed on the ARM7 MPU, and the platform of the software is |xC/OS- n embedded RTOS. Introduced the MPU module, the sensor module, the implementation module and the remote control module. In this paper, PID arithmetic was realized. Developed the program for GUI (graphical user interface) based on MiniGUI. This controller can meet the real time and intelligent control and it has the advantages of flexible operating, friendly interface, low power, small cubage and so on. Provides a new scheme for DOF control system design of micro vehicle and robot.