【摘要】 介绍一种由远程监控机、通讯控制器及下位机组成的基于无线通讯的承压管道检测机器人的 3级控制系统。监控机与通讯控制器之间的无线通讯采用PTR2 0 0实现 ,讲述了其组成、通讯协议以及编码纠错。通讯控制器与下位机采取有线通讯方式 ,组成主从式控制结构 ,文中对其多机通讯组成、协议、下位机采用L2 98对直流电机的控制、对增量式旋转编码器输出信号的方向鉴别及测速电路、时序做了详细介绍。更多还原

【Abstract】 A three level control system based on wireless communication is introduced.The system is designed to control bearing-tube detecting robot and consisted of monitoring and controlling computer, communication controller and subsystem.The communication between mionitoring and controlling computer and communication controller is implemented wirelessly with PTR2000.The component,protocol and error correcting encode are discussed in detail. The communication controller and subsystem are connected to each other directly and master-slave control structure is adopted between them.The structure ,protocol of muticomputer communication,DC motor’s control with L298,circuit of rotating direction identification of rotating encoder and speed test and their sequence of time is described.更多还原