Hardware design of driving and controlling system for greenhouse robot

In order to achieve real-time response,robustness and accommodation to complex work, multi-motor harmony driven algorithm and efficiency intelligence controlling algorithm, applied hardware technology to a mobile robot .In the design of motor controller robot control circuit based on DSP TMS320LF2407 as main controller, which adopts PWM digital signal as its control signal, other sensor and NC interface integrate to CPLD- EPM7128, and transmit from CPLD to DSP, complete closed circuit control, at the premise of high capability, the whole controller hardware structure turn simple, economical and credible.