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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.
This paper describes a microprocessor-based four-legged walking robot distributed real-time control system to introduce the system’s master-slave distributed loosely coupled structure.The system uses two 8088CPU, an 8087 coprocessor and 14 8031 single-chip microcomputer. A system administrator to be responsible for the timing control of the entire system, written in C system management program has a good portability and fast execution characteristics of the loosely coupled task processor according to the system administrator’s instructions to perform a specific algorithm This article will first introduce the method of decomposing the whole system control into a group of tasks (motor servo), and then focus on the design of the all-digital DC servo system based on 8031 MCU and the real-time control of the walking machine. Design, parallel processing, digitization, and distributed control techniques have resulted in improved performance and reliability of the overall control system.