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轮式自主机器人控制系统设计

摘要：随着移动机器人技术的不断深入，机器人所涉足的领域也越来越广，需要完成的工作和任务也越来越多，运动的实时性和可靠性的要求也会越来越高。为适应这样的发展对机器人的控制系统要求的精确性也越来越高，因此对移动机器人的运动控制系统进行了设计。

本文通过对轮式自主机器人现状的分析，并根据它的设计要求，对轮式自主机器人进行运动控制系统硬件的电路设计，主要包括了主控制器电路和电机控制电路的设计，其中对主控制电路进行了控制与外围模块的设计，对运动控制系统电路进行了设计并对其扩展系统进行了简要的介绍。本文还介绍了以PCI总线为总线的以单片机为控制芯片的运动设计卡的设计，包括芯片的选择，硬件的设计，实现了多功能的协调控制。

本套运动控制系统的设计方案，对控制系统进行了有效的系统配置，更好的提高了运动系统的控制效率。为移动自主机器人提供了一个可靠的平台，为机器人多种功能的实现提供了方便，为以后机器人产业化提供了可能性。

关键字：机器人；系统；控制芯片

Designing of Automatic Feed Water Control System

Abstract： With the development of robotics robots enter various fields to help people. So their tasks become more complex and need to be done with greater accuracy and the requirements for real time ability and reliability become stricter. To adapt to this trend. The requirements of robot’s control system are also gradually increase, so the movement control system of mobile robots was designed in the paper. Based on the analysis of wheeled robot development, and in accordance with design requirements, its motion control system hardware circuit was designed, which include the main controller circuit and motor control circuit design. In the paper, the

control module and the external module was designed for the main controller circuits. And the motion control system circuit boards were designed with a brief introduction of its expansion. This paper also introduced the design of the movement control card which the microllctroller chip is the control chip based on the PCI bus. It includes the choice of chips, hardware design, aims to achieve a more coordinated control. This design proposal of motion control system makes an effective allocation of resources, improves the efficiency of control. It provides a reliable platform and convenience for realization of multiple functions of robot, and also provides the possibility of the industrialization of robot for in the future.

Keywords：control system circuit, sensor, motion control card

第1章绪论……………………………………………… 1

1.1课题背景……………………………………………. 1

1.2移动自主机器人的发展概况……………………………… 1

1.2.1移动自主机器人的研究现状………………………… 1

1.2.2移动自主机器人的发展展望………………………… 2

1.2.3传感器技术的应用……………………………….. 2

1.3本文的研究内容方案及步骤……………………………… 3

1.3.2总体的设计方案及步骤……………………………. 4

1.4本文主要内容和结构…………………………………… 4

第2章机器人控制系统设计…………………………………. 5

2.1主控制器硬件电路的设计……………………………….. 5