基于STM32的24路舵机同步控制系统设计
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摘要
针对多路舵机速度和位置同步控制问题,提出一种多路舵机控制信号产生及控制方法,仅采用STM32芯片的一个通用定时器实现24路舵机PWM控制信号的精确独立输出控制。基于分时复用的方法,实现一个比较寄存器控制6路舵机,故利用一个定时器的4个比较寄存器及其比较中断和1个更新中断,最终实现24路舵机位置和速度的同步控制。基于该方法进行了硬件系统设计,主要包括电源模块、舵机接口模块、存储模块、低压报警模块、键盘模块及通信模块。最后,实现了24路舵机控制系统的设计,并成功应用在17自由度的人形机器人中,且在华北五省(市、自治区)大学生机器人大赛中获得一等奖,验证了控制系统的稳定性、可靠性及有效性。
In allusion to the speed and position synchronous control problem of the multi-channel rudder,the control signal generation and control method is proposed for the multi-channel rudder. The precise and independent output control for the PWM control signals of the 24-channel rudder is realized by using only a general timer of the STM32 chip. Six-channel rudder control using a comparison register is realized based on the time division multiplexing method. The 24-channel rudder position and speed synchronous control is realized by using four comparison registers with their comparison interrupts and an update interrupt of a timer. Based on the method,the hardware system is designed,mainly including the power module,rudder interface module,storage module,low-voltage alarm module,keyboard module and communication module. The design of the 24-channel rudder control system is realized. The system is successfully applied in the 17-degree of freedom humanoid robot,and awarded with the first prize in the college student robot contest of five provinces,municipalities and autonomous regions of North China.The stability,reliability and effectiveness of the control system were verified.
In allusion to the speed and position synchronous control problem of the multi-channel rudder,the control signal generation and control method is proposed for the multi-channel rudder. The precise and independent output control for the PWM control signals of the 24-channel rudder is realized by using only a general timer of the STM32 chip. Six-channel rudder control using a comparison register is realized based on the time division multiplexing method. The 24-channel rudder position and speed synchronous control is realized by using four comparison registers with their comparison interrupts and an update interrupt of a timer. Based on the method,the hardware system is designed,mainly including the power module,rudder interface module,storage module,low-voltage alarm module,keyboard module and communication module. The design of the 24-channel rudder control system is realized. The system is successfully applied in the 17-degree of freedom humanoid robot,and awarded with the first prize in the college student robot contest of five provinces,municipalities and autonomous regions of North China.The stability,reliability and effectiveness of the control system were verified.
引文
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[2]YI S J,ZHANG B T,HONG D,et al.Whole-body balancing walk controller for position controlled humanoid robots[J].International journal of humanoid robotics,2016,13(1):11-15.
[3]周永龙,雷金奎.基于STM32的数字舵机控制系统的设计[J].计算机测量与控制,2011,19(1):66-68.ZHOU Yonglong,LEI Jinkui.Design of STM32-based digital actuator controlling system[J].Computer measurement&control,2011,19(1):66-68.
[4]冯晓伟,王雷阳,李正生.多路舵机控制PWM发生器的设计与Proteus仿真[J].现代电子技术,2011,34(11):167-169.FENG Xiaowei,WANG Leiyang,LI Zhengsheng.Design and simulation of multipass servo control PWM generator based on Proteus[J].Modern electronics technique,2011,34(11):167-169.
[5]钱庆文.基于STM32的类人机器人控制系统的研究[D].哈尔滨:哈尔滨理工大学,2014.QIAN Qingwen.Research on control system of humanoid robot based on STM32[D].Harbin:Harbin University of Science and Technology,2014.
[6]SATO R,MATSUDA H,FUJIEDA M,et al.Design and implementation of common platform for small humanoid robots[C]//Proceedings of IEEE International Conference on Mechatronics and Automation.Takamatsu:IEEE,2013:855-860.
[7]韩飞,吴宝春,陈益,等.四足爬行机器人控制研究[J].智能计算机与应用,2017,7(1):117-118.HAN Fei,WU Baochun,CHEN Yi,et al.Control research on quadruped robot[J].Intelligent computer and applications,2017,7(1):117-118.
[8]刘士川,邓甲昊,占银玉,等.基于STM32的小型机械手的设计与控制方法[J].探测与控制学报,2017,39(2):19-23.LIU Shichuan,DENG Jiahao,ZHAN Yinyu,et al.Design and implementation of manipulator based on PWM technology[J].Journal of detection&control,2017,39(2):19-23.
[9]余梓奇,章建雄,马鹏,等.基于OpenOCD和DAP的嵌入式远程调试系统研究与设计[J].电子设计工程,2017,25(22):149-153.YU Ziqi,ZHANG Jianxiong,MA Peng,et al.Research and design of embedded remote debugging system based on OpenOCD and DAP[J].Electronic design engineering,2017,25(22):149-153.
[10]解明利,刘春旭,张一同.机械压力机连杆动态结构优化设计仿真[J].计算机仿真,2017,34(9):209-213.XIE Mingli,LIU Chunxu,ZHANG Yitong.Rod system dynamic structure optimization design and simulation for the mechanical press[J].Computer simulation,2017,34(9):209-213.