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Aimed at numerous joint freedom of humanoid robot and the complex control situation of motor, this paper presents a hierarchical control structure and a modular design project for bottom joint controller. To combine the capability of high-speed data processing of DSP and the predominant control performance of 8-bit MCU, the design chooses TMS320F2812 for coordination layer and P89LPC9201 for execution layer, making the DC motors stable rotation. There are two Event Managers in TMS320F2812, so the DSP could control the joints of two legs at the same time. Coordination layer and execution layer could realize communication through UART. The incremental PID algorithm is used in the control strategy by stages. Simulation result shows that this method is rapid, stable and accurate.