中文摘要：

对前轮驱动自行车机器人的控制系统嵌入式硬件平台构建问题进行了研究，提出了一种以TMS320F28335数字信号处理器（DSP）为控制系统核心，以TMs320F2812数字信号处理器为信号采集模块，以C8051F020单片机为电机控制器，融合惯性测量单元、光电编码器、霍尔电流传感器，超声波传感器等多感知传感模块的前轮驱动自行车机器人嵌入式控制系统构架；利用F2812的片内外设采集传感器信号获得机器人内部状态及其外部的环境信息，构造CAN总线、SPI总线以及RS232总线在系统内进行数据通讯。通过F28335完成运动算法计算，并由C8051F020的PCA模块发出PWM信号驱动前轮电机和车把电机完成一个控制周期；样机试验表明，设计随动车架横滚角的控制器控制前轮速度和车把转角，构建的控制系统硬件可以使自行车机器人平衡行走超过5s。

英文摘要：

The embedded controlling system hardware construction of a bicycle robot with front--wheel drive was investigated in this paper. The system utilizes digital signal processor （DSP） TMS320F28335 as the core controller, TMS320F2812 as the datum acquired module, micro controller chip （MCU） C8051F020 as motors controller, and adopts inertial measurement unit, encoders, Hall current sensors and supper sonic sensors to be sensors system. Sensors were accessed by peripherals of F2812 to get inner and outer information of the robot. CAN, SPI and RS232 bus were constructed to exchange datum between processor. Controlled variable were calculated by F28335, and eventually, C8051F020 generates PWM with PCA to drive DC motor of front--wheel and step motor of front--fork to complete a servo controlling period. Prototype experiment validates that, by controlling the velocity of front--wheel and the rotational angle of front--fork, the bicy-cle robot can keep balance moving at least 5s with the controlling system hardware in this paper.