CN201385313Y - Motor control device of amphibious robot - Google Patents
Motor control device of amphibious robot Download PDFInfo
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- CN201385313Y CN201385313Y CN200920013214U CN200920013214U CN201385313Y CN 201385313 Y CN201385313 Y CN 201385313Y CN 200920013214 U CN200920013214 U CN 200920013214U CN 200920013214 U CN200920013214 U CN 200920013214U CN 201385313 Y CN201385313 Y CN 201385313Y
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- arm microprocessor
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- 238000006243 chemical reaction Methods 0.000 abstract 1
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- 238000004891 communication Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000000306 recurrent effect Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
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Abstract
The utility model discloses a motor control device of an amphibious robot, which is connected with a main control computer through a bus module, the control device takes an ARM microprocessor as a control core, the ARM microprocessor is connected with a CAN transceiver through a first isolator, a second isolator is connected with an RS485 transceiver, the CAN bus is connected with the CAN transceiver, and the RS-485 bus is connected with the RS485 transceiver; the I/O end of the ARM microprocessor is directly connected to the first motor and the second motor through the first motor driver and the second motor driver; the ARM microprocessor is connected with the first motor driver and the second motor driver through a digital/analog output conversion module; the first motor is connected with the ARM microprocessor through a rotary potentiometer, and the second motor is connected with the decoding chip module through a rotary transformer. The interface of the device has good universality and is easy to replace; the volume is small, the arrangement is flexible, and the installation is easy; the structure is clear, the debugging is convenient, the cost is low, the reliability is high, and the fault diagnosis can be realized.
Description
Technical field
The utility model relates to the underwater robot electric machines control technology, provides general, the distributed integrated motor control device of amphibious robot of oar leg of taking turns specifically.
Background technology
Wheel oar leg integrated amphibious robot be a kind of both can be on land, beach, seabed creep, the specialized robot that can swim in the Very Shallow Water marine site can be investigated operation at common land climbing robot and the unapproachable Very Shallow Water of robot that swims, breaker zone and zone, seabeach under water again.The screw propeller that this amphibious robot is the most frequently used with underwater robot dexterously and the driving wheel of land climbing robot and the leg of creeping are combined as a whole, and have realized that multiple motor pattern automaticallyes switch, thereby have strengthened the work capacity of this robot.The integrated amphibious robot of wheel oar leg is a kind of bio-robot, have swim, motor pattern such as six-foot crawling and Four-feet creeping, motor on it is more, traditional robot control system adopts centralized control to each motor, this control mode too relies on main control computer and motor centralized Control plate, in case main control computer or motor centralized Control plate break down, whole amphibious robot will move, and paralyses.The reliability of robot control system reduces, and also is unfavorable for assembling, debugging, fault detect and the eliminating of system and the maintenance, repair and the maintenance of system simultaneously.Because the resource on main control computer and the motor centralized Control plate is limited, be difficult to random increase equipment, the poor expandability of system.Along with electronic technology, development of Communication Technique, the sensor that amphibious robot carried is more and more, and the mission of finishing is also increasingly sophisticated, and traditional centralized Electric Machine Control mode can't satisfy the demand of amphibious robot control system development.
The utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model provides a kind of modularization, interface is simple and independence is strong, extensibility is strong, safe, high efficiency, the integrated motor control device of amphibious robot of wheel oar leg that reliability is high.
To achieve these goals, the technical solution adopted in the utility model is: a kind of motor control device of amphibious robot, described control device is connected with main control computer by bus module, described this control device serves as the control core with the ARM microprocessor, the ARM microprocessor by first isolator be connected with the CAN transceiver, second isolator is connected with the RS485 transceiver, the CAN bus is connected with the CAN transceiver, and the RS-485 bus is connected with the RS485 transceiver; ARM microprocessor I/O end directly is connected to first, second motor by first, second motor driver; The ARM microprocessor is connected with first, second motor driver by D/A output modular converter, and described first, second motor driver outputs control signals to first, second motor; Described first, second motor is connected with mould/number input modular converter by first, second motor driver, and described mould/number input modular converter is connected with the ARM microprocessor; The ARM microprocessor is connected with rotary transformer by the decoding chip module, and the ARM microprocessor is connected with rotating potentiometer; First motor is connected with the ARM microprocessor by rotating potentiometer, and second motor is connected with the decoding chip module by rotary transformer.
Control device is gathered signals of rotating transformer by the decoding chip module, gathers angle, electric current and the tach signal of motor, by the ARM microprocessor motor is carried out closed loop/positioning control by mould/number input modular converter.
Described control device main program flow is:
Carry out initialization earlier,
Start communications reception task, communication transmission task and Electric Machine Control task,
Be in recurrent state then;
In circulation, wait for the instruction message that communication task is transmitted by mailbox, the decision instruction type of message, and after data are carried out analyzing and processing, trigger inter-related task by message mailbox again;
Finish dealing with behind the instruction message, program is returned, judge and finish?
If, then do not wait for next instruction message;
If yes, termination routine then.
The utility model compared with prior art has more following advantage:
1. the utility model flexible arrangement is easy to install, and has improved the utilization in space on the amphibious robot structure, has reduced the length of line, has alleviated the weight of amphibious robot, also reduces the generation of fault simultaneously.Because motor control assembly is a relatively independent intelligent object, volume is little, flexible arrangement, the space that utilizes of having improved amphibious robot integral body.
2. the utility model is easily changed and is debugged conveniently, reduces workload.The motor that uses on the amphibious robot is more, and the control mode of motor is identical, owing to adopt identical control device, therefore save a large amount of development times and workload, if which control device breaks down, do not influence other control device simultaneously, directly change one and get final product.
3. the utility model versatility is good, reduces cost.Because motor control assembly is identical, can purchase, process in batches, therefore save cost.
4. the utility model communication interface is selected flexibly, and adaptability is strong.This installs existing CAN bus interface module the RS-485 bus interface module again, can order wire be received on the employed bus terminal according to the interface needs during use.
5. the utility model can be realized fault diagnosis, which node of location or motor break down easily, because this control device adopts the ARM microprocessor as core controller, therefore by detecting the signal on the motor driver, can judge which motor or node and break down, save the time of fixing a breakdown.
6. the utility model can independently use and also can form distributed network control.This device is owing to adopt the CAN bus and the RS-485 EBI, so this device can use separately as required or a plurality of use and form distributed control network.
7. the utility model system works efficient height is carried out the work allocation of main control computer to node.By bus the centralized control task of main frame is distributed on the control device and carries out, alleviated the task of main control computer greatly, improved system effectiveness.
Description of drawings
Fig. 1-1 is the utility model overall structure figure;
Fig. 1-2 is the utility model integrated circuit schematic diagram;
Fig. 2-1 is the utility model main program flow chart;
Fig. 2-2 is the utility model communications reception mission flow diagram;
Fig. 2-3 sends mission flow diagram for the utility model communication;
Fig. 2-4 is the utility model Electric Machine Control mission flow diagram;
Fig. 3 is the utility model interrupt handling routine flow chart;
Fig. 4 is the utility model network application expansion schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As Figure 1-1, a kind of integrated motor control device of amphibious robot of oar leg of taking turns, described control device is connected with main control computer by bus module, receive the communications command that main control computer sends, described this control device serves as control core (the ARM microprocessor adopts ARM7 system) with the ARM microprocessor, the ARM microprocessor by first isolator be connected with the CAN transceiver, second isolator is connected with the RS485 transceiver, the CAN bus is connected with the CAN transceiver, and the RS-485 bus is connected with the RS485 transceiver; ARM microprocessor I/O end directly is connected to first, second motor by first, second motor driver; The ARM microprocessor is connected with first, second motor driver by D/A output modular converter, and described first, second motor driver outputs control signals to first, second motor, the control signal of output two-way motor; Described first, second motor is connected with mould/number input modular converter by first, second motor driver, and described mould/number input modular converter is connected with the ARM microprocessor;
The ARM microprocessor is connected with rotary transformer by the decoding chip module, and the ARM microprocessor is connected with rotating potentiometer; First motor is connected with the ARM microprocessor by rotating potentiometer, and second motor is connected with the decoding chip module by rotary transformer.Control device is gathered the information of each motor driver and the information of sensor, after these orders and the information via ARM microprocessor processes, realizes the control to each motor.Described bus module has two types, and a kind of is the CAN bus, and another kind is a two-wire system RS-485 bus, and dual mode is selected by binding post, and bus module is selected wherein one type.The ARM microprocessor is gathered information such as motor speed, electric current by the analog quantity input interface module, the A/D interface of ARM microprocessor is by gathering the output valve of rotating potentiometer, the positional information of gathering first motor.The ARM microprocessor links to each other with rotary transformer by the decoding chip module, gathers the rotating speed and the positional information of second motor output shaft that links to each other with rotary transformer.
Shown in Fig. 1-2, described control device is by CAN bus and RS-485 bus and the information exchange of external piloting control computer realization.The CAN bus links to each other with the CAN pin of ARM microprocessor U1 after first isolator is isolated by CAN transceiver U9-2; The RS-485 bus links to each other with the UART0 pin of ARM microprocessor U1 after second isolator is isolated by RS-485 transceiver U10-4.This control device is to be core with ARM microprocessor U1, passes through I
2The C pin links to each other with D/A output modular converter U3, analog voltage signal of its output two-way 0～5V is controlled first, second rotating speed of motor to first, second motor driver, ARM microprocessor U1 by the I/O pipeline control first, second motor driver potential energy, brake, turn to etc.; Mould/number input modular converter U7-4 gathers the rotating speed and the current feedback signal of first, second motor driver, and feedback signal is to ARM microprocessor U1.ARM microprocessor U1 links to each other by decoding chip module rotary transformer and has improved taking turns the control accuracy of oar or pedal plate.Rotary transformer decoding chip U2 output drive signal is after buffering is amplified, the rotor of excitation rotary transformer, return processings of decoding of decoding chip module again from the induced signal of its stator winding output, the decoding chip module returns angular speed and angle signal after resolving by the SPI0+I/O pin to ARM microprocessor U1 then.Rotating potentiometer then links to each other with the A/D pin of ARM microprocessor U1.ARM microprocessor U1 receives by bus module after the main control computer order, handles the back by set strategy motor is controlled, and gather motor speed, the current information of motor driver feedback, thereby realize the two closed-loop controls to motor.Be provided with rotary transformer and gather the rotating speed and the positional information of output shaft on the output shaft of second motor, first motor then is provided with rotating potentiometer collection position information, realizes the accurate control to whole drive unit.
ARM microprocessor U1 adopts μ COS-II embedded real-time operating system, and each drives and main program is write employing embedded type C language.μ COS-II is a kind of task priority, multitask embedded real-time operating system set, and can pass through message queue, mutex amount and message mailbox communication between each task.μ COS-II and program through compilation after, download to Flash in the sheet of ARM microprocessor U1 by the JTAG debug port, operation automatically after powering on.Writing of whole procedure comprises that interrupt handling routine, driver are based on the task design of μ COS-II.
Shown in Fig. 2-1, the idiographic flow of control device main program is:
Carry out the initialization of μ COS-II, hardware and hardware driving earlier, and start communications reception task, communication transmission task and two Electric Machine Control tasks that priority is identical, be in recurrent state then;
In circulation, wait for the instruction message that the communications reception task is transmitted by mailbox, type of message and data are carried out analyzing and processing after, again by message mailbox triggering inter-related task;
After handling instruction message, judge whether to finish, if not, then main program returns, and waits for next instruction message; If then finish.
Shown in Fig. 2-2, after the communications reception task initialization, each mailbox message of interrupting of circular wait.After mailbox message arrives, judge whether bus message earlier into CAN, in this way, then carry out data and resolve according to set CAN bus protocol; As not, then judge whether bus message, if then carry out data and resolve according to set RS-485 bus protocol into RS-485.The result that data are resolved is sent to the main program task by message mailbox again.
Shown in Fig. 2-3, communication sends after the task initialization, the mailbox message of circular wait main program.After mailbox message arrives, judge whether earlier to send data by the CAN bus, in this way, then generate datagram according to set CAN bus protocol; As not, then judge whether to send data, if then generate datagram according to set RS-485 bus protocol by the RS-485 bus.By message mailbox is set, trigger the transmission that related interrupts is finished datagram then.
Shown in Fig. 2-4, after two Electric Machine Control task initializations, the mailbox message of circular wait main program.Judge whether to be closed-loop control then, and the relevant control strategy of foundation is finished the control to the two-way motor.In closed-loop control, feedback signals such as the electric current of needs collection motor-driven plate, rotating speed, the output signal that also needs to gather rotary transformer and rotating potentiometer etc.
As shown in Figure 3, the motor control device of amphibious robot interrupt service routine mainly contains type in 3: the CAN bus interrupts being responsible for the reception and the transmission of CAN bus data; The RS-485 bus interrupts being responsible for the data reception and transmission of RS-485 bus; The timer interruption then when inter-related task is used timer, is carried out related interrupts and is handled.Have no progeny in receiving, ARM7 forwards corresponding interrupt handling routine to according to terminal type, executes interrupt service routine and interrupts afterwards returning.
As shown in Figure 4, motor control device of amphibious robot can be expanded by CAN bus or RS-485 bus, form distributed control network with other control node, the control device node is independently of one another, can increase or reduce the quantity of node according to actual needs, simultaneously also can come the position of flexible arrangement motor control assembly, thereby improve the reasonable utilization in space on the underwater robot, make the entire machine people become very compact according to the physical location of motor and motor driver.
Claims (2)
1. motor control device of amphibious robot, described control device is connected with main control computer by bus module, it is characterized in that:
Described this control device serves as the control core with the ARM microprocessor, the ARM microprocessor by first isolator be connected with the CAN transceiver, second isolator is connected with the RS485 transceiver, the CAN bus is connected with the CAN transceiver, and the RS-485 bus is connected with the RS485 transceiver;
ARM microprocessor I/O end directly is connected to first, second motor by first, second motor driver;
The ARM microprocessor is connected with first, second motor driver by D/A output modular converter, and described first, second motor driver outputs control signals to first, second motor; Described first, second motor is connected with mould/number input modular converter by first, second motor driver, and described mould/number input modular converter is connected with the ARM microprocessor;
The ARM microprocessor is connected with rotary transformer by the decoding chip module, and the ARM microprocessor is connected with rotating potentiometer; First motor is connected with the ARM microprocessor by rotating potentiometer, and second motor is connected with the decoding chip module by rotary transformer.
2. according to the described a kind of motor control device of amphibious robot of claim 1, it is characterized in that: described control device is gathered signals of rotating transformer by the decoding chip module, gather angle, electric current and the tach signal of motor, motor is carried out closed loop/positioning control by mould/number input modular converter by the ARM microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920013214U CN201385313Y (en) | 2009-04-24 | 2009-04-24 | Motor control device of amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920013214U CN201385313Y (en) | 2009-04-24 | 2009-04-24 | Motor control device of amphibious robot |
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| CN201385313Y true CN201385313Y (en) | 2010-01-20 |
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| CN200920013214U Expired - Fee Related CN201385313Y (en) | 2009-04-24 | 2009-04-24 | Motor control device of amphibious robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103978324A (en) * | 2014-04-23 | 2014-08-13 | 中国科学院合肥物质科学研究院 | Double-core five-shaft welding robot control system |
| CN104440911A (en) * | 2014-11-12 | 2015-03-25 | 沈阳新松机器人自动化股份有限公司 | Miniature integrated cleaning robot control system |
| CN104503231A (en) * | 2014-11-25 | 2015-04-08 | 北京理工大学 | Swinging arm driving-type motion control method for amphibious frog board robot |
| CN105437231A (en) * | 2015-12-25 | 2016-03-30 | 马鞍山永耀智能装备有限公司 | Six-axle series robot joint servo system |
-
2009
- 2009-04-24 CN CN200920013214U patent/CN201385313Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103978324A (en) * | 2014-04-23 | 2014-08-13 | 中国科学院合肥物质科学研究院 | Double-core five-shaft welding robot control system |
| CN104440911A (en) * | 2014-11-12 | 2015-03-25 | 沈阳新松机器人自动化股份有限公司 | Miniature integrated cleaning robot control system |
| CN104503231A (en) * | 2014-11-25 | 2015-04-08 | 北京理工大学 | Swinging arm driving-type motion control method for amphibious frog board robot |
| CN104503231B (en) * | 2014-11-25 | 2017-02-22 | 北京理工大学 | Swinging arm driving-type motion control method for amphibious frog board robot |
| CN105437231A (en) * | 2015-12-25 | 2016-03-30 | 马鞍山永耀智能装备有限公司 | Six-axle series robot joint servo system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100120 Termination date: 20160424 |
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| CF01 | Termination of patent right due to non-payment of annual fee |