【摘要】 基于32位ARM7微型处理器LPC2119开发移动机器人伺服控制系统,设计了适应于双轴独立驱动的移动小车伺服控制PI算法,采用PWM脉宽调速技术结合光电编码反馈来构成闭环电机伺服系统.系统方案在自主设计的室内移动机器人小车XMU-3上进行了验证,实验结果能达到室内服务机器人平台应用的控制精度要求.更多还原

【Abstract】 This paper designs a servo-control system for mobile robots based on 32-bit ARM7 micro-processer. The approach designs PI algorithm which suits biaxial wheel mobile robots servo-control system,adopting PWM speed control and utilizing light-electronic devices for feed-backing components to set up a closed motor servo-control system. The system is tested on the self-designed XMU-3 indoor intelligent mobile robots vehicle,which proves to be able to match the control accuracy requirements and meet the potential application platform needs of indoor service robot.更多还原