【作者】 屠治国；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2004， 硕士

【摘要】 随着微电子机械系统技术(MEMS)、高密度信息处理技术、集成控制技术的飞速发展，微小型机器人以其隐蔽性强、功耗小、成本低廉、便于部署的优点正日益成为军用机器人研究热点。本课题来源于国家自然科学基金项目“两栖仿生机器蟹基础技术研究”，希望建立一个对复杂地形高度适应、性能可靠、体积小巧、并具有两栖环境下活动能力的小型移动机器人平台。 本论文主要研究内容是仿生蟹驱动控制层的硬件及软件设计的实现及其功能验证。依据系统总体方案，重点对电机驱动技术、基于DSP的运动控制系统、基于FPGA的编码器信号处理、CAN总线通信技术等内容开展了相关研究如下： 依据相关运动学动力学原理对关节驱动力矩进行近似计算并选择电机，围绕电机驱动芯片L6201设计电机驱动器以及相关接口电路。 以DSP为核心的控制系统是本论文核心内容。设计了以运动控制芯片TMS320LF2407为核心的，具有多级多目标递阶分布式控制系统，包含DSP最小系统、电机编码器信号处理、HALL传感器信号处理、FSR足尖力A／D转换等软硬件模块。 确定了CAN总线作为仿生蟹系统协调控制层和驱动控制层之间数据交换的载体。TMS320LF2407内建CAN控制器，简化了软硬件设计，提高系统可靠性及抗干扰能力强等优点。 通过单足实验验证了软硬件设计的可行性，在此基础上对控制系统进一步完善，完成了仿生蟹样机的安装调试工作，实现了样机在平面上的双四足步态运动。更多还原

【Abstract】 Along with the fast development of MEMS, high density information management and integration control, micro robot becomes a research hotspot of military robot for its advantages such as high performance of concealment, low power consumption and cost, convenient for disposal etc. The research of this paper supported by project of ’Amphibious Crab-liked Robot Study’, which is funded by NSFC (National Natural Science Foundation of China) aims at establishing a micro motion-robot platform with high adaption to complicated landform, high dependability and ability for movement in amphibious environment.The main research of this paper are the design of hardware and software in driving control layer of crab-liked robot and identification of related function. According to the main scheme of the system, we pay more attention to the research on motor-driving, motion control system based on DSP, coder signal management based on FPGA, communication based on CAN bus and so on.With the theory of kinematics and dynamics, the driving moment of joint according to which motors are chosen well is work out. The chip L6201 serves as the core of motor driver and interface.The main point of this paper is to design the distributed control system with multi-layer and multi-object based on DSP. The system includes mini-system of DSP, coder signal treatment module, Hall signal treatment module, FSR A/D transformation module and so on.In data communication and instruction transmission we select CAN bus for its good expansibility, high dependability and strong ability of anti-jamming. The CAN controller is embedded in TMS320LF2407, so the design of hardware and software are simplified.Through single leg test the feasibility of design is well identified. And we made additional improvement on the system and the dual four-leg movement of the crab-liked robot is realized.更多还原