Multi-motor control system of walking robot

Abstract

The invention relates to a walking robot multi-motor control system which is characterized by comprising an upper machine and a main controller which consists of FPGA chips; the main controller is connected with the upper machine by a communication interface; a software system is pre-arranged in the main controller; a control signal emitted by the main controller is transmitted to a gait controller which sends a commutation signal to a plurality of motors of the robot; the main controller is connected with a PWM counter by internal buses and emits a pulse-width modulation signal and an addresssignal to control the rotation speed of the corresponding motors; sensors which are arranged at the leg and the sole of the robot detect the angle signals of all motors and transmit the angle signalsto a sensing signal processor; the sensing signal processor converts the measured angle signals into digital signals and transmits the digital signals to the main controller. The walking robot multi-motor control system has stronger and smarter control function than a special control chip and can be matched with the CPU of the upper machine to complete high-class decision control function.

Description

technical field [0001] The invention relates to a robot, in particular to a multi-motor control system for a walking robot. Background technique [0002] Because robots can help humans complete many tasks without consuming human physical strength and intelligence, and can even do things that humans cannot do, so the research and development of robots has always been the focus of people's research to make the performance of robots more and more Complete. [0003] A complete robot needs to have a power system and a decision-making system, as well as a corresponding motion control system. The motion control system is the link connecting the power system and the decision-making system, accepts instructions from the decision-making system, and provides control signals for the actuators of the power system. [0004] From the appearance of the robot to the present, its power system has gone through several stages from wind and water power to steam power, motor power, and material...

AI Technical Summary

Problems solved by technology

The single-chip microcomputer is responsible for processing sensing data and sending control data to the dedicated control chip. Since these processes need to be processed by the CPU, the single-chip microcomputer has fewer resources for task decision-making, and basically cannot implement complex task planning.

The special control chip mainly accepts the control command of the single-chip microcomputer and generates a PWM (pulse width modulation) signal, but the special control chip varies from motor to motor, and the interfaces of different types of motors are completely different, and the price of each special control chip is very expensive.

This makes the traditional motor control system unable to undertake complex tasks, and has the defect of extremely poor versatility of the control system

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