摘 要现如今，随着人民的生活的提高和自动化的迅速发展，各种服务性质的机器人应运而生。现阶段，各类机器人都越来越趋向于小型化、高效化以及智能化。而作为机器人执行元件的一个重要的部分，其电机必须具备速度快、精度好、效率高等特点。直流无刷电机的使用和需求也因此迅速增大。84941

本文的目的是设计一种安保服务机器人的驱动控制系统。该系统的主要结构是由两个平行的车轮加上一个万向轮构成。它的工作原理是通过直流无刷电机直接带动车轮运转，通过单片机输出信号，实现机器人的前进、后退以及精准调速。

本文在仔细整理和研究了国内外的安保服务机器人的驱动的文献资料的基础上，选用了合适的单片机、主控芯片、功率MOS管等主要的电子元器件设计好了安保机器人驱动电路，并且完成了对驱动控制系统部分的硬件电路的搭建。

硬件电路部分搭建完成了以后，驱动系统的各个模块相互协调工作。MSP430F149采集外部输入信号，给主控芯片MC33035输入控制信号，并与其配套芯片MC33039驱动全桥控制电路实现驱动控制系统的速度的闭环控制，从而使安保服务机器人可以实现前进、后退、能耗制动、调速以及转向等一系列基本功能。

毕业论文关键词：安保机器人；直流无刷电机；MSP430单片机；驱动               

Abstract With the improvement of people's life and the rapid development of automation, a variety of robots using for service have been invented。 Nowadays, all kinds of robots are more and more intelligent, efficient and small。 As an important part of the robot's executive component, the motor must have the characteristics of fast speed, high precision and efficiency。 So, the use and demand of DC brushless motor is growing rapidly。

This paper aims to design a drive control system for the security service robot。 The main structure of the system is composed of two parallel wheels and a universal wheel。 Its working principle is to directly drive the wheel running through the direct current brushless DC motor and achieve the robot forward, backward and precise speed control through the microcontroller output signal。

After careful reference and sorting out the domestic and foreign research on the security services robot driver, This paper designed a security robot driver circuit with appropriate microcontroller, the main control chip, power MOS tube and other major electronic components。 Also, the hardware circuit of the drive control system has been completed。

After the completion of the hardware circuit, each module of the drive system can work in coordination with each other。 The microcontroller receives external input signal to provide control signals to the main control chip MC33035。 The main control chip MC33039 together with its supporting chip MC33035 drive the full bridge control circuit to achieve closed loop control of the speed of the drive control system。 So that the security service robot can move forward, backward, energy consumption brake, adjust the speed ，control direction and complete other basic functions。

Keywords: security service robot; brushless DC motor; MSP430 microcomputer; control

目  录

第一章 绪论 1

1。1 机器人的驱动控制的研究背景和意义 1

1。2 机器人驱动控制的国内外研究状况与发展历程 1

1。2。1 国外的发展历程 1

1。2。2 国内的发展历程 3

1。3 本课题的主要工作