摘要
在考虑A/D检测精度、电机驱动和集成度等因素基础上,设计了以ADuC812为主控芯片,8253为PWM产生芯片,L298为驱动芯片,EPM7128为接口芯片并具有吊装物体姿态检测、吊索拉力检测、电机伺服驱动和机器人控制功能的嵌入式控制系统。同时,给出了系统硬件框图、部分软件代码和上位机控制界面。进行的机器人协调吊装和直升机升力测试实验表明,本嵌入式控制系统具有运行稳定,功能定制,可靠性高和通用性强等特点。
Taking such factors as A/D precision,motor driving and system integration in account, an embedded MCU system using an ADuC812 as master control chip, an 8253 as PWM producing chip, a L298 as motor- driving chip and an EPM7128 as interface chip to simulate multi-UAV cooperative hoisting on the ground was designed in this paper. At the same time, the architecture of the hardware,some main software codes and the interface of the PC control system were given briefly. The experiments of multi - manipulator cooperation hoisting and the UAV lifting force measuring indicated the embedded control system was stable running, function customizing, high reliability, complete function and so on.
出处
《机械与电子》
2006年第12期40-43,共4页
Machinery & Electronics
基金
国家自然科学基金资助项目(60475039)
作者简介
田磊（1981-），男．河南开封人，上海交通大学机械与动力工程学院硕士研究生，研究方向为特种机器人与智能控制等。
