|
The soccer robot competition is the environment of high real-time and high dynamic. The soccer robot must possess the characteristic of good mobility and flexibility in the game. Therefore, owning a good motion control system for soccer robot is very important. The soccer robot is inseparable from the accurate motion control to realize fast forward, backward, corner, parking and other basic actions and to have pointing, shooting, picking ball and other basic skills. The topic of this thesis is doing research of small size soccer robot motion control system, as to control the movement of the robot. The main research contents are as follows:(1) Circuit design of the underlying system. Bottom circuit and the SOPC system based on FPGA together build up the hardware circuit of whole control system. The main parts of bottom includes circuit system communication subsystem, kicking subsystem, infrared measuring system, motor driving and power supply module, and the communication subsystem, hitting subsystem is emphatically introduced. The characteristics of wireless communication chip and radio transceiver’s circuit design is introduced in the communication subsystem. The kicking subsystem involves the the control scheme of the ball hitting, high voltage boos circuit designing and electromagnets drive circuit designing.(2) The SOPC system based on FPGA. In this part, the FPGA outer-ring circuit, function module circuit, the SOPC peripheral design is included. The function module consists of velocity measurement system and kicking logic circuit. What’s more, there is a detailed analysis and design for the principle of kicking logic circuit, the filter circuit and the scheme of the speed measurement system. The SOPC peripherals mainly introduces PWM designing and interface circuit’s design for the wireless communication chip--PTR4000, and also a detailed analysis on the running principle and software designing is taken on.(3) Software design for motion control system. In this part, the main content is FPGA procedures, wireless communication, motion control and driver procedures, etc. The FPGA procedures focus on the PWM programming. And the configuration program, wireless transmitting and wireless receiving procedures are mainly designed in the wireless communication. The control algorithm design, parameter selection and program code is focused on in the motion control software design. Master control program consists of the main controller program, the initialization procedures and interrupt service routines.(4) System debugging and testing. For each circuit module, there is a debugging and system function testing, and all the problems and process encountered in system testing were explained and analyzed. FPGA smallest system, speed module, PWM, motor drive are all covered in the debugging objects; Test objects includes the performance of basic functions such as wireless communication, kicking football, ball possession, measuring the ball, and also the movement function such as forward, backward, rolling, parking, etc.
|