Abstract
A control platform was constructed with the features of a car carrier and two step motors, which could be controlled by changing the motors’ speed and direction based on DSP. Two motors were directly connected with the front wheels (they are both the driving wheels and steering wheels) to realize a straight line or curve driving. The hardware circuit of the experimental platform control part was designed to solve the relative connection problems, including among the development board, step motor controller, step motor; among the computer, the emulator, the development board. The control strategy of the step motor was studied based on DSP. To verify the trajectory tracking control function of the experimental platform, a circular trajectory was verified with the tracking control strategy.
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