基于CAN总线的喷雾机器人主从式控制系统研究
Research of Mast-slave Control System of Spraying Robot Based on CAN-Bus
本文以四轮驱动机器人为研究对象，搭建了一种主从式的嵌入式控制系统。下位机DSP将采集的传感器信息，经过A/D转换以后通过CAN总线传输给上位机PC/104系统，PC/104根据PID算法规划行驶路径，由PWM系统驱动直流电机完成机器人的行走。试验结果表明，实现了对机器人导航的可靠控制。
In this paper, a mast-slave embedded control system of a 4-WAD(4-Wheeled Alone Driven) spraying robot was constructed. The collected sensor information after A/D converted by DSP, then transmission through CAN-bus to PC/104 system. A path tracking algorithm was designed by PC/104 based on digital PID control. The PWM system drive the motor to realize the robot’s movement. Experiments showed that the system runs stably and reliably, it meets the requirement of robot’s navigation control.
李信、张宾
自动化技术、自动化技术设备
喷雾机器人嵌入式系统PC/104SPN总线
spraying robotembedded systemPC/104SPN bus
李信,张宾.基于CAN总线的喷雾机器人主从式控制系统研究[EB/OL].(2009-06-11)[2025-08-02].http://www.paper.edu.cn/releasepaper/content/200906-354.点此复制
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