足球机器人底层自动控制系统硬件.pdf

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自动化技术马英庆等:足球机器人底层自动控制系统硬件
足球机器人底层自动控制系统硬件
马英庆1 ,程福1 ,赵臣2
(1. 辽宁机电职业技术学院辽宁丹东 118002 ;2. 天津大学机械工程学院天津 300072)
摘要:介绍一款足球机器人底层自动控制系统的硬件。他由 L PC2132 微控制器、L M629 运动控制芯片、L298 恒压恒
流桥式驱动芯片、BIM - 433 (418) - F 无线收发模块等器件构成。该设计采用嵌入式芯片 L PC2132 满足系统高性能的要
求。L M629 实现了智能 PID 自适应控制,简化了软件设计,较好地解决了复杂运行算法的瓶颈问题。无线收发模块体积小,
通信速率高,抑制杂波干扰强。该系统特点是:硬件系统结构简单、集成度好、运行可靠、动态品质优良、控制精度高。
关键词:足球机器人;L PC2132 ;L M629 ;L298 ;BIM - 433 (418) - F
中图分类号: TP24 文献标识码:B 文章编号:1004 - 373X(2007) 13 - 118 - 03
Hardware Design of er Robot Control System
MA Yingqing1 ,CH EN G Fu1 ,ZHAO Chen2
(1. Liaoning Mechanical & Electronic College ,Dandong ,118002 ,China ;
2. School of Mechanical Engineering , Tianjin University , Tianjin ,300072 ,China)
Abstract : The hardware design of er robot control system is presented ,which posed of L PC2132 micro - processor ,
LM629 motion control chip ,L298 motor driving chip and BIM - 433 (418) - F wireless model. L PC2132 is utilized to fulfill the re
quirement for advanced performances of this system. LM629 with intelligent and adaptable PID motion control is utilized to make no
use of the PID software design ,which decreases greatly the influence on the proceeding speed by plex PID algorithm. The wire
less model is pactedness ,high munication and robustness. This hardware system predominates in simple construct ,
high integrated model ,robu