Research On Crawler-type Central Air-Conditioner Cleaning Robot Based On DSP

With the increasing awareness of human health and government attention, the research and application of central air-conditioner cleaning robot in our country, have been social essential needs, and have broad prospects.The crawler-type central air-conditioner cleaning robot system based on DSP has been designed, with the background of cleaning robot and the core controller of DSP chip.Firstly, the research and application status of central air-conditioner cleaning robot has been introduced comprehensively. The robot research platforms, feasibility, innovation, and main research contents are also introduced.Secondly, the whole structure frame has been introduced. To realize the mobile function of the whole system, TMS320F2812 DSP is selected as the core controller, and DC motor as the mobile drive unit; the main hardware construction and software control strategy are also designed.The robot's hardware circuit design is the core part of the whole subject. By analyzing the hardware structure which the system needs, the robot research platform based on DSP has been built, which contains: DSP minimum system, Peripheral electric circuits, communication interface, DC motor drive circuit of wheel, detecting circuit, and so forth, then the anti-jamming measures which must be concerned in hardware design have been summarized.Then the software system design has been expatiated. With the emphasis of the fuzzy PID algorithm applied in wheel motor control, the main software control strategy and frame are introduced, while the simulation results are compared and analyzed; then the Module subroutines and essential register configuration have been introduced, which contain: Flash boot loader, PWM generating, serial interface communication, A/D conversion, and system main program, at last, the experiment results have been given.Finally, the research achievements have been summarized; while the work needs more lucubration has been described.