| 摘要: |
| 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式松耦合结构.该系统采用了2只8088CPU,一只8087协处理器和14只8031单片机.文中设计了一个系统管理员来负责整个系统的时序控制,用C写的系统管理程序具有移植性好和执行速度快的特点.而松耦合的任务处理器则根据系统管理员的指令来执行特定的算法.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. |
| 关键词: 微处理器,机器人,分布式控制系统 |
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| A distributed control system for a quadruped walking vehicle based on microprocessors and microcontrollers |
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| Abstract: |
| The paper describes a distributed control system for a quadruped walking vehicle. A system scheduler is designed which responsible for all flow control functions. Loosely coupled task processors respond to instructions from the scheduler to perform a special control algorithm. The emphasises are placed on a method which allows overall system activities to be decomposed into Tasks(motor servos), the design of a fnllv digital DC servo system based on a single-chip microcomputer and the real-time control for the walking vchicle. Modularization, parallelism, digitalization, and distributed contrl are presented as methods of improving petformance and reliability of the control system. |
| Key words: Microprocessor,Roboties,Distributed Control. |
《电讯技术》编辑部 