The DSP-Based Control System Of Mini-Movement Robot

Researching on the movement robots abroad and in country, reference the PACKBOT robot of IROBOT Company, according the request of design, we complete the design and reality of the Mini-Movement Robot. This paper is an important part of the Mini-Movement Robot.Firstly the paper introduces the mechanic structure. According the actual mechanic structure, filling the precondition of the torque and speed request of robot, we select the separated brushless DC motors as the driver for robot.Secondly according the selected motors, we design the brushless DC motor driver circuit based on chip Si9979, the main control circuit based on microcontroller DSP 2810 and power and communication circuit.Thirdly aiming at the actual functions of the movement robot, using C language, we complete the program of the data sampling of DSP, PI speed circle and the RS-232 serial communication of DSP 2810 and the upper PC. We also finish the man-machine communication program by VC 6.0.Finally we make experiments of the movement robot. The experiments prove that the hardware and software is competent for the robot and the movement robot can fill for the request of the design.