Research On Biped Robot Control System Based On ARM/DSP

The technology of biped walking robot is a multi-discipline synthetic science, which is constituted by bionics, mechanics and control engineering. It involves not only the knowledge of non-linear, multi-sensor information fusion and image processing, but also the technologies of the modeling of complex electromechanical system, digital simulation and mixed system controlling. Biped walking robot is one of the important branches in robot research fields, which can reflect one country's technologic strength. Therefore, it is especially necessary for China to develop the biped walking robot industry in order to become a modern industrial country.The design of control system is very critical for biped walking robot to walk real-timely and stably. With the development of microelectronics technology, the performance of microprocessor used by servo system is improved continuously. These years, Digital Signal Processor (DSP) has become a primary processor of signal processing system and been widely applied in many fields. Digital Signal Processor has two significant features, which is as follows: (1) Rapid calculating capability which can realize complex control algorithms and functions; (2) Combining real-time processing ability and controlling peripheral function, so it is extensively used in position control system.With TMS320F2812 DSP as the kernel, an ARM+DSP-based biped walking robot control system is researched and designed in this thesis, the analysis and design of both control system hardware architecture and software modules is also completed, which mainly includes the following items: First of all, this thesis designs the hardware structure and the main circuit of a motion control system, describes in detail the overall design of a biped walking robot control system, DSP function analysis and the choice of chips, discusses the structure of motion control system. The main circuits of the control system hardware are analyzed and designed in detail, which includes power conversion circuit, DSP power-on reset circuit and clock circuit, control signal output isolation circuit, A/D conversion circuit, serial communication interface circuit and CAN bus communication interface circuit.Secondly, this thesis presents the software design and programming ideas of the motion control system. The overall structure and function modules of the control system software are introduced, the program flows and the setting methods of necessary DSP chip registers are introduces in detail for various functional modules which includes system main program, A/D sampling module, control signal output module, quadrature encoder pulse (QEP) circuit and encoder feedback module, control algorithm module, CAN bus communication program module and serial communication program.Finally, this thesis introduces simply a kind of closed-loop motor control method, discusses the design methods of PID controller and fuzzy self-tuning PID controller of motor, introduces the method of PID parameters choosing and determining, and carries out result simulation.