基于DSP的全方位移动平台无线遥控系统

Wireless Control System for Omni-directional Mobile Platform Based on DSP

摘要:

以全方位移动平台为研究对象,针对移动平台的全向运动控制,基于TI公司的TMS320F2812和无线数传模块设计了无线遥控系统；该系统将数据采集程序、通信协议和纠错编码算法集成在高速DSP系统上,具有信道选择灵活、接口标准、易维护的优点;并且对遥控通信系统的硬件和软件进行了设计,构建了适合于移动平台的可靠通信协议;最后进行了传输距离和响应时间试验,试验结果是无线遥控系统的稳定传输距离可达100 m,发射端和接收端的响应时间分别小于20 ms和80 ms,数据传输错误率低于0.003%且可完成数据的及时更新；试验结果表明该系统的响应时间短,数据传输稳定,可以完成对移动平台的实时全向运动姿态的操控。

Abstract:

A wireless control system based on TI’s TMS320F2812 and wireless data transmission module for Omni-directional mobile platform was designed. The data collection procedures, communication protocols and error correction coding algorithm of this system were integrated in the high-speed DSP, which has the advantages of flexible channel selection, interface standards, and easy to maintain. In order to complete the Omni-directional motion of platform, the hardware and software of remote communication system and reliable communication protocol suitable were given. At last, the results of tests have been get that the stable transmission distance of the wireless control system is up to 100 m, the response time of transmitter and receiving are 20 ms and 100 ms respectively, data transmission error rate is less than 0.003% and data update can be completed in time. The results show that the system has the advantages of short response time and stability of data transmission, which could complete the motion control of omni-directional mobile platform in real-time.