基于DSP爬壁机器人控制系统设计

摘要

This paper designs a kind of double-module climbing robot control system that uses TMS320F28335 as its core chip to detect the case of aircraft cabin. Two modules apply the negative pressure adsorption mode and the vacuum suction mode respectively. By using two PWM waves to drive two walking motors, the PID controller parameters are designed and optimized, so that it not only can walk on the surface curved,but also transit between differently inclined surfaces owing to the way of its double modules design. Through selecting the special material, we reduce the quality of the robot, thereby the payload of the robot is increased nearly 15%. The design of the DSP control system achieves transiting between differently inclined surfaces,the proposed control method is advanced and efficient,and the quality indicators of robot can be effectively improved.%目的 设计一种以TMS320F28335为核心控制芯片的双模块爬壁机器人控制系统,用于对飞机机舱内的情况进行检测.方法 两个模块分别采用负压吸附方式和真空吸附方式,用两路PWM波驱动两路行走电机,设计了PID控制器参数并进行了优化,使机器人可以在有一定曲率的表面上行走.结果 基于机器人双模块的设计方式,机器人可以跨越一定角度的交叉壁面.通过特殊的材料选取,减轻了机器人的质量,从而增加了机器人的有效载荷近15％.结论 笔者设计的基于DSP的设计方案实现了机器人的交叉壁面跨越功能所提出的控制方法是先进有效的,可以有效地提高机器人的品质指标.