【作者】 江福民；

【导师】 冯培恩； 高宇；

【作者基本信息】 浙江大学 ， 机械设计与理论， 2002， 硕士

【摘要】 微电子技术、计算机技术、自动控制技术、无线电技术的发展与工程机械的紧密结合，逐步促使工程机械向着自动化、智能化、信息化方向发展。具有局部自主控制功能的工程用遥控机器人是目前研究的热点。本文从现代机电一体化产品的设计理论出发，结合挖掘机器人遥控系统的设计实例，在实验室原有研究的基础上，主要开展了以下几个方面的研究： 1．首先分析了遥控机器人国内外发展现状及趋势，阐明本课题研究意义；回顾了本实验室研究成功的遥控机器人系统概况，确定了主要研究内容。 2．分析了挖掘机器人遥控系统的功能结构，确定了无线数据通信系统的设计要求，通过比较分析提出了采用无线数传模块的通信系统新方案。 3．给出了机器人基于DSP的无线遥控通信系统具体的硬件设计实现，包括TMS320VC5402外围系统、多路数据采集、多路模拟输出和与无线数据收发模块的接口电路设计的具体实现过程；最后给出了一种简单有效的驱动输出硬件保护接口电路的设计。 4．给出了无线遥控通信系统的软件设计实现，并根据系统实际需要建立了实现无线数据通信的消息格式指令方案；通过分析模拟操纵手柄的内部接口原理，解决了主端操纵输入非线性化问题；着重分析了适合遥控机器人主从端无线通信协议的实现过程。 5．研究分析差错控制编码技术在挖掘机器人无线遥控通信系统中的应用，选择具前向纠错(FEC)的混合差错控制(HEC)方式，提高遥控通信信道的抗干扰能力，纠错译码方式采用Golay(23、12、7)码，给出软件编译译码的方法以及一种进一步提高译码速度的方法。更多还原

【Abstract】 Tightly combined with the development of technologies of micro-electronics, computer, auto-control and radio engineering, modern engineering equipment moving in the direction of automation, intelligence and informatization. Recently, the research of remote control for excavating-robot with the semi-autonomous control becomes hot topic. In this thesis, the remote control system of excavation-robot is developed based on the modem design theory for mechano-electronic products. The main contents of this thesis are as follows:In Chapter 1, the status quo and development tendency of remote control excavating-robot technology at home and abroad are analyzed, and the significance of researching this thesis are provided, together with the main research area for this paper.In Chapter 2, the function makeup of the remote control system of excavating-robot is analyzed and the design requirements of wireless communication system are determined. By Comparison and analysis, a new project using wireless data-transmit module is brought forward.In Chapter 3, the hardware structure of the remote control communication system base on DSP is provided, together with the design of peripheral system of DSP, circuits for ADC and DAC and interface with wireless module in detail. In the end of this chapter, a kind of simple but effective hardware safeguard for valve drive is described.In Chapter 4, the software structure of the remote control communication system based on TMS320VC5402 DSP is provided. Set forth the message format used in remote control according to actual requirement in system and realize linearization of control input by analyzing the inner-interface of joystick. Finally, a tidy wireless communication protocol designed for remote control system is introduced as one of main parts.In Chapter 5, Analyze the character of remote control communication system and introduce the Hybrid error-correcting system using FEC mode to improving the anti-jamming of wireless remote control communication channel. Golay(23.12,7) is used and its algorithms of error correction are applied. A method to shortening the spending of error correction is also introduced.更多还原