【摘要】 全自主足球机器人要完成踢球任务,需要一个快速可靠的运动控制系统,但是大多数以前的电机控制系统都是基于MCU或DSP系统的.为此,提出基于PC104总线控制的直流伺服电机控制系统,介绍了运动控制系统的组成、电动机控制板和系统控制软件.该控制系统具有体积小、功能强、反应速度快和控制简单等特点,完全可以满足足球机器人的运动要求,并可应用于其他小型装置的电动机控制系统上.更多还原

【Abstract】 It needs a rapid and reliable motion control system for the autonomous soccer robot to accomplish its own tasks, such as to cover an opponent’s attack or run for a ball, but almost all the traditional motor control systems are based on MCU(Micro Controller Unit) or DSP(Digital Signal Processor)system. A DC servo motor control system based on PC104 bus is presented, and the construction of the motion control system, motor control board and application software are introduced. This system has the advantages of small volume, powerful function, fast response and easy control, meets the motion demand of soccer robot completely, and can be used in other similar motor drive systems for small mobile device.更多还原