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本文描述一个四脚步行机器人的微处理器分布式实时控制系统,介绍系统的主从分布松耦合结构,讨论系统的数学模型及采用高性能的8031单片机的实现方法.本文将首先介绍把整个系统控制分解为一组单独执行的任务(即电机伺服)的方法,然后重点讨论基于8031单片机的全数字式直流伺服系统的设计以及步行机的实时控制等问题.模块化设计.并行处理,数字化和分布控制技术使得整个控制系统的性能和可靠性均得到了提高.
This paper describes a microprocessor based on a four-legged walking robot distributed real-time control system, introduces the system’s master-slave distributed loosely coupled structure, discusses the mathematical model of the system and high-performance 8031 microcontroller implementation.This paper will first introduce the entire system Control is decomposed into a group of tasks that are performed independently (ie, motor servo), and then focuses on the design of all-digital DC servo system based on 8031 MCU and the real-time control of pedestrian machines, etc. Modular design Parallel processing, digitization and Distributed control technology makes the entire control system performance and reliability have been improved.