基于Cygnal单片机的遥控机器人控制系统设计

作者：郭 薇，张云洲，薛定宇 日期：2007-08-31/span> 浏览：3410 查看PDF文档

                                                  基于Cygnal单片机的遥控机器人控制系统设计
                                                                   郭 薇，张云洲，薛定宇
                                     （东北大学 信息科学与工程学院，辽宁 沈阳 110004）

摘 要：根据亚洲广播电视联盟亚太地区机器人大赛的要求，提出了基于Cygnal单片机的遥控机器人控制系统。讨论了以C8051F020单片机为核心的控制系统的设计及实现，该系统巧妙利用Cygnal微控制器的PWM波形产生功能，以两路PWM输出通过LMD18200驱动芯片控制走行电机的转动，实现了性能优良的两路直流电机控制，遥控器与机器人之间采用自行拟订的串行通讯协议，数据传输可靠。在比赛场上，遥控机器人发挥稳定，取得了令人满意的成绩。
关键词：C8051F020；遥控机器人；控制系统；通讯协议

                               Design of telecontrol robot system based on Cygnal MCU
                                                  GUO Wei, ZHANG Yunzhou, XUE Dingyu
(College of Information Science and Engineering, Northeastern University, Shenyang 110004, China)

Abstract: According to the requests of ABUROBOCON, a telecontrol robot system based on the Cygnal MCU was proposed. The design and implementation of the control system were discussed based on C8051F020 MCU. It utilized the function of PWM unde generation to control the wheeling of motor by making twoway PWM output to LMD18200 driver chip. And it implemented twoway direct current motor control whose performance was superior. The serial communication protocol between the remote control and robot, which made data transportation reliable, was studied out by oneself. In contest, the telecontrol robot implements steadily and gains a desirable result.
Key words: C8051F020; telecontrol robot; control system; serial communication

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