温室移动机器人驱动与控制系统的硬件设计

在温室的三维干涉环境中,应用硬件技术实现移动机器人的实时响应性、鲁棒性和对复杂作业环境的适应能力,以及多电动机协调驱动算法和高效智能控制算法等。采用面向数字控制应用的DSP芯片TMS320LF2407作为主控芯片,由DSP发出电动机PWM控制信号,将其他传感器及数控接口集成到CPLD芯片EPM7128上,由CPLD输送到DSP,完成驱动系统的闭环控制。在提高性能的前提下,整个控制器硬件结构变得简单、经济、可靠。

Hardware Design of Driving and Controlling System to Greenhouse Robot

In order to achieve real-time response, robustness and accommodation to complex work, multi-motor harmony driven algorithm and efficient intelligence controlling algorithm, applied hardware technology to a mobile robot in three-dimensional interference of greenhouse, in the design of motor controller robot control circuit based on DSP-TMS320LF2407 as main chip, which adopts PWM digital signal as its control signal, other sensor and NC interface integrate to CPLD-EPM7128, and transmit from CPLD to DSP, complete closed loop control, on the premise of high capability, the whole controller hardware structure become simple, economical, and credible.