Design Of Software System For Steering Gear Control System Of Biped Robot

It is a human dream to let robots enter thousands of households.In recent years,with the development and popularization of artificial intelligence,related technologies in the field of robots have gradually released vigorous vitality.As a core power source of robots,the steering gear has developed rapidly.This work investigates and studies the development status and related technologies of the biped robot steering gear control system in domestic and overseas,and develops a high-performance steering gear control software system for biped robots with DSP as the core processor and EtherCAT communication function.The specific work of this paper is as follows.First,the hardware platform is designed and developed.The main contributions include:(1)With the microcontroller(TI company's TSM320F28335)as the core processor,the main control platform is designed;(2)A high-precision position feedback module based on the double absolute magnetic encoder is developed,so that the position control accuracy of the steering gear is improved by several orders of magnitude compared with the traditional servo control accuracy.(3)To increase the power density of the steering gear,the PCB board is divided into a power board and a control board,and the combination is optimally superimposed,which makes that the joint design of the biped robot is more anthropomorphic;(4)The communication module based on LAN9252 is designed.Because of its integrated dual PHY,the servo communication line is more flexible and reliable.The above hardware solution forms a solid hardware foundation for realizing high-precision control and posture control of the biped robot.Second,a control software system is designed and developed.The main work of software system includes:(1)For the motor control,the control algorithm of the permanent magnet synchronous motor based on FOC technology is used to realize the spatial decoupling of the motor excitation current and torque current,thereby improving the dynamic response performance of the motor current loop;(2)As for the design of EtherCAT communication protocol,the protocol stack migration and application layer program of EtherCAT slave system based on PDI(Process Data Interface)between LAN9252 and DSP is realized.According to the application layer protocol of Cia402,the interface function of the DSP is designed and the device description file of the slaverelated configuration is developed to realize the function of the master station receiving and transmitting process data and service data.Finally,the control software system is tested and verified.Based on the design and implementation of the above software and hardware platform,the basic performance of the relevant parameters of the steering gear is tested and verified.The experimental results meet the design specifications.The EtherCAT communication of the steering gear control system is verified by the Twincat main station.Based on the Linux main station,the joint experiment of the communication control system of the biped robot steering gear is realized,which is a complete success.In summary,the design reflects the expected effect of the project and provides a good foundation for the gait algorithm debugging of the biped robot.