| 刘志娟,刘晓萌,李添益.基于DSP与LabVIEW仿生运动机理模型在线切换、离散化系统[J].轻工机械,2011,29(5): |
| 基于DSP与LabVIEW仿生运动机理模型在线切换、离散化系统 |
| Online System for Switching and Discretization of Bionic Motion Principle Model Based on DSP and LabVIEW |
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| DOI： |
| 中文关键词: 机器人 仿生运动机理 离散化 虚拟仪器 数字信号处理 |
| 英文关键词:robot bionic motion principle discretization virtual instrument Digital Signal Processing(DSP) |
| 基金项目: |
| 刘志娟 刘晓萌 李添益 |
| 1.浙江大学 机械工程学系， 浙江 杭州 310027；2.浙江大学 机械设计研究所， 浙江 杭州 10027 |
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| 中文摘要: |
| 仿生运动机理模型在实际的应用过程中，必须针对特定的应用场合和不同的硬件系统选择不同的控制模型和最优参数，使实际效果达到最佳。文章提出了一种基于DSP与LabVIEW，对仿生运动机理模型进行实时在线离散化的方法。该方法实现了控制模型的在线切换、参数的实时修正、模型的在线离散化、LabVIEW和DSP的实时通信。实验结果表明，该系统实时性好、运行可靠。 |
| 英文摘要: |
| In practical application process of bionic motion principle model，in order to achieve optimum effect，the different control model and optimum parameters should be selected based on special application site as well as different hardware systems. This paper put forward a real-time, online, discrete system for the model of bionic motion principle, which can actualize the following functions such as online changing of the control model, real-time amendment of model parameters, online discretization of the model and real-time serial communication between LabVIEW and DSP controller. Experimental result shows that the system has characteristics with good real-time and high running reliability. |
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