一种基于DSP的爬壁机器人控制系统设计

摘要

目的 设计一种以TMS320F28335为核心控制芯片的四轮爬壁机器人控制系统,用于对飞机机舱内的情况检测.方法 采用负压吸附方式,通过密封腔的负压产生一个垂直墙面的正压力,用它在竖直方向产生的摩擦力去抵消重力.用两个电机驱动四轮行走使其可以在光滑的壁面和有一定曲率的飞机表面上行走.结果 移动速度比以前的轮足式机器人提升了近20%,并且减小了机器人的尺寸,降低了质量,从而增加了机器人的有效载荷.结论 基于DSP的设计方案实现了控制系统的低功耗和控制的高可靠性,为今后爬壁机器人控制系统的进一步优化及模块化打下了基础.%This paper designed a kind of control system which uses TMS320F28335 as its core chip to response to detect the case of aircraft cabin, the system uses negative pressure adsorption to produce a positive pressure on the vertical wall, and then through the friction of it to offset gravity.The robot walks with twowheel motor drive so that it can walk on the smooth surface and the surface curvature.So it can move faster than the previous round of foot robot raised nearly 20％, and reduce the size of the robot,lower the quality,thus increasing the payload of the robot.This control system uses a modular design approach, including the main program module, motion control module, communication module.The proposed control scheme is proved to be feasible by experimental results.