共查询到20条相似文献，搜索用时 171 毫秒
1.
<正>本文设计了一种由SJA1000作为通信控制器的CAN智能测控节点,给出了整体设计思路、硬件电路组成以及软件程序设计。经实验验证,系统具有良好的可靠性与实时性,具有很强的实用价值。一、引言CAN总线具有高可靠性、实时性、抗干扰性强和高性价比等特点,广泛应用于加工制造、过程控制、机器人等多个领域。SJA1000是一款独立的控制器,它具有CAN协议中数据链路层的相关功能,是一种能应用于工业环境的局域网控制器。本文介绍基于SJA1000的CAN智能测控节点软、硬件设计。 相似文献
2.
本文介绍了基于CAN总线通信的称重系统设计,该系统利用CAN总线将若干个单片机系统连接成一个称重系统。各分立的单片机系统将通过传感器获取称重信息,根据所获得信息处理结果,然后对机械系统进行控制。所有的单片机系统和主控制器连接,将相关的信息和数据传给主控制器,主控制器来完成相关的协调、控制、报警和人机对话工作。最后对几种工业通信方式进行了对比,论证了CAN总线作为该称重加料系统的优势。 相似文献
3.
4.
CAN总线是一种应用广泛的实时性现场总线,本文提出了采用独立CAN控制器SJA1000和高速单片机Atmega64进行CAN总线数据侦听,再经过USB通信芯片FT245BM传输到计算机,在PC机上采用CAN总线协议分析软件显示与存储各帧信息的CAN总线协议分析器系统的设计。本文阐述了CAN总线协议分析器的硬件结构及实现方案并对软件编程进行了介绍。 相似文献
5.
CAN(控制器局域网),属于现场总线的范畴,作为一种高速、可靠,并且对分布式实时控制应用来说是低成本的串行总线,它被广泛用汽车电子控制领域里。主要介绍汽车CAN总线,CAN总线系统的工作原理以及CAN系统的故障的诊断和检测技术。 相似文献
6.
现场总线在工业与交通控制系统中有着广泛应用，对于不支持现场总线的52位嵌入式微处理器，必须专门设计其与现场总线的接口。本文分析了CAN协议现场总线控制器的接口特点，使用复杂可编程逻辑器件（CPLD）设计CPU总线与CAN控制器之间的接口时序逻辑，给出了仿真波形，并编制嵌入式实时操作系统下的驱动程序，实际试验证明其运行稳定可靠，实现了CPU与现场总线控制器间的无缝连接。 相似文献
7.
嵌入式Linux下开发各类CAN总线设备,需设计相应的驱动程序,以CAN控制器MCP2510为例,详细介绍了CAN总线控制器硬件接口设计,以及嵌入式Linux下设备驱动程序的开发流程和技巧,结合CAN控制器的特点,设计相关的数据结构和操作代码来实现CAN控制器的设备驱动程序。 相似文献
8.
9.
三星公司生产的S3C44BOX16/32-bit是开放总线的基于ARM7-TDMI内核的32为微处理器的典型代表.CAN总线则是现场总线的典范,它具有优良的可靠性、实时性、灵活性,被广泛应用于工业现场测控领域.文中对CAN控制器SJA1000作了介绍,并给出了在分布式测控系统中使用该芯片的软硬件设计. 相似文献
10.
11.
本文所研究的是一种具有较高性价比的教育/娱乐机器人控制系统,控制器的核心是基于ARM的可扩展的控制平台,并以机器人小车为载体集成了多种外围设备. 相似文献
12.
《Journal of The Franklin Institute》2021,358(18):9542-9560
This work mainly studies the position and attitude tracking control of a free-floating space robot. With the attitude represented in modified Rodrigues parameters (MRPs), a task-space controller with predefined-time stability is developed considering the external disturbance. The tuning parameters of a predefined-time controller can be formulated as functions of the prescribed upper bound of the stabilization time. Based on the backstepping technique and a novel predefined-time stabilizing function, a predefined-time control scheme is designed for the space robot system. Moreover, to avoid ’explosion of terms’, an auxiliary variable is introduced such that the controller is independent of the derivative of the virtual control law. Numerical simulations are presented to demonstrate the effectiveness of the proposed method. 相似文献
13.
《Journal of The Franklin Institute》2022,359(12):6286-6310
The operational space control of a robot manipulator using external sensors requires stabilizing the compound system {external sensors - outer controller - inner controller - robot manipulator}. The user must access the inner controller to reshape it to achieve this stabilization. Due to intellectual property protection purposes, most industrial robots have an unknown or inaccessible inner controller. Therefore, it is tricky to design a stable control scheme. To solve this problem, an adaptive radial basis function neural network (RBF NN) outer controller is proposed, which approximates the inner controller’s dynamics to eliminate its effect in the closed-loop. An inherent property for RBF NN is used to reduce the number of adaptive parameters. Since this technique introduces approximation errors, it is included in the control scheme, a term that constrains the system to converge rapidly to the performances prescribed by the user. It is proved that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB) through Lyapunov theory. The effectiveness of the proposed approach is verified through simulation comparisons and experimental studies. 相似文献
14.
文章提出了一种基于ARM处理器的家用清洁机器人控制系统,包括硬件设计和软件设计。硬件部分包括主控器模块、电源及欠压检测模、传感器模块、人机交互模块、驱动模块以及清洁模块。软件部分设计了清洁机器人的主要控制流程。该控制系统以通用性和功能完备为目标,使机器人具备智能清洁能力。 相似文献
15.
Amit Ailon 《Journal of The Franklin Institute》2004,341(6):519-531
This study considers the stability problem of a flexible-joint robot in case time delays are involved in the feedback loop. We assume in our analysis that the controller uses only position measurements. The single and multiple time-delay cases, are considered. By using some useful structural properties of the robot model, sufficient conditions for asymptotic (exponential) stability of the system under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is given. 相似文献
16.
In this paper, a novel on-line observer-based trajectory tracking strategy for leader-follower formation of multiple nonholonomic mobile robots is developed. In the proposed strategy, a leader robot follows a certain trajectory whereas a number of followers track the leader as specified by a formation protocol. Unlike other techniques in the literature, a predefined trajectory is not required, and it can be changed on-line. Moreover, this strategy aims to have a fast transient response without showing undesired overshoots. To achieve this feature, a new observer is introduced. Based on the output of that observer, a control strategy with two components is derived. The first control component is responsible for tracking the desired trajectory, whereas the second control component is used to regulate the robot to its desired steady state position. The stability of the closed loop control system is investigated. Applications of the proposed observer-based controller to different case studies are presented to illustrate the effectiveness, robustness and applicability of the developed technique. To show the superiority of proposed controller, its performance in a trajectory tracking application is compared to that of a Lyapunov-based controller. 相似文献
17.
18.
Xiaonan Dong Chengzhi Yuan Paolo Stegagno Wei Zeng Cong Wang 《Journal of The Franklin Institute》2019,356(10):5049-5072
This paper studies the problem of composite synchronization and learning of multiple coordinated robot manipulators subject to heterogeneous nonlinear uncertain dynamics under the leader-follower framework. A new two-layer distributed adaptive learning control scheme is proposed, which consists of the first-layer distributed cooperative estimator and the second-layer decentralized deterministic learning controller. The first layer aims to enable each robotic agent to estimate the leader’s information. The second layer is responsible for not only controlling each individual robotic agent to track over desired reference trajectory, but also accurately identifying/learning each robot’s nonlinear uncertain dynamics. Design and implementation of this two-layer distributed controller can be carried out in a fully-distributed manner, which do not require any global information including global connectivity of the communication network. The Lyapunov method is applied to rigorously analyze stability and parameter convergence of the resulting closed-loop system. Numerical simulations on a team of two-degree-of-freedom robot manipulators have been conducted to demonstrate the effectiveness of the proposed results. 相似文献
19.
Yuksel Hacioglu Yunus Ziya Arslan Nurkan Yagiz 《Journal of The Franklin Institute》2011,348(8):1886-1902
The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy. 相似文献
20.
A new approach to control the attitude of a quadrotor UAV in terms of the exponential coordinates is developed in this paper. The exponential coordinate is a minimal representation of the rotation matrix, but it can avoid singularities. Since the quadrotor UAV can be considered as a rigid body aircraft, the analytic closed-form expressions of a rigid body's attitude kinematics are derived from differential of exponential on SO(3). Furthermore, based on the exponential expressions of attitude kinematics, the controller of a fully actuated rigid body is designed using trajectory linearization control method. The overall attitude controller contains two loops, which are designed according to the torque equation and the angular velocity equation respectively. In the numerical simulation, the proposed attitude controller is compared to a controller in the Euler angles, showing that singularities induced by Euler angles are avoided by using exponential coordinates. The robustness test of the attitude controller is also demonstrated in the simulation. The simulation results indicate that the proposed method can be applied to the attitude tracking control of an aerial robot especially when the robot needs to make aggressive maneuverings. 相似文献