【摘要】 基于模块化设计思想 ,构造了一个全驱动直进式管道检测机器人 PIBOT,采用 AT89C5 1单片机和82 5 3计数器构成机器人 PWM调速系统 ,后级采用 IR2 110和 IRF5 4 0构成的 H桥式电路进行功率放大 ,利用数字PID算法实现管道机器人闭环控制 .机器人与主控计算机通过 RS4 2 2串口通讯更多还原

【Abstract】 A modularized pipe examined robot, PIBOT, is introduced with 3 motor drivers which is control by a PWM generator consisting of AT89C51 and 8253, and a H bridged driver consisting of IR2110 and IRF540. The robot’s close loop velocity adjustment is completed through a digital PID algorithm. The robot communicates with the master computer via the serial interface of RS422.更多还原