Motor control device of amphibious robot
A technology of motor control and control devices, which is applied in the direction of electrical program control, program control manipulator, program control in sequence/logic controller, etc., which can solve problems that are not conducive to system assembly, debugging, fault detection and troubleshooting, system maintenance, repair and maintenance , unable to meet the needs of the development of the amphibious robot control system, relying on the main control computer and the centralized control board of the motor, etc., to achieve the effect of saving development time and workload, flexible selection of communication interfaces, and flexible layout
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[0030] The present invention will be further described in detail below in conjunction with the drawings.
[0031] Such as Picture 1-1 As shown, a wheel-paddle-leg integrated amphibious robot motor control device is connected to a main control computer through a bus module, and receives communication commands sent by the main control computer. The control device is controlled by an ARM microprocessor Core (ARM microprocessor adopts ARM7 series);
[0032] The ARM microprocessor is connected to the CAN transceiver through the first isolator, the second isolator is connected to the RS485 transceiver, the CAN bus is connected to the CAN transceiver, and the RS-485 bus is connected to the RS485 transceiver;
[0033] The I / O end of the ARM microprocessor is directly connected to the first and second motors through the first and second motor drivers;
[0034] The ARM microprocessor is connected to the first and second motor drivers through the digital / analog output conversion module. The firs...
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