A SMALL PIPE-INSPECTION ROBOT

摘要

A modularized pipe examined robot, PIBOT, is introduced with 3 motor drivers which is control by a PWM generator consisting of AT89C51 and 8253, and a H bridged driver consisting of IR2110 and IRF540. The robot's close loop velocity adjustment is completed through a digital PID algorithm. The robot communicates with the master computer via the serial interface of RS422.