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Study on the Control of Wheeled Mobile Robot Speed Regulation System

Author: LiXiaoMing
Tutor: ZhangHongBing
School: Lanzhou Jiaotong University
Course: Power Electronics and Power Drives
Keywords: Wheeled mobile robot Governing system DSP PID Adaptive fuzzy PID
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 73
Quote: 0
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Abstract


The measure of a country intelligent development has become an important aspect of robotics research level, represents the latest development of today's computer technology, automation technology and system integration technology. With the rapid development of the mobile robot in industrial production and many other aspects of life play an increasingly important role in its control accuracy of the speed control system have higher requirements. Thesis the MT-UROBOT wheeled mobile robot for the study, carried out a detailed study of its control of the speed control system. The paper first describes the application and development of the mobile robot at home and abroad, briefly discusses the hot issue of the classification of mobile robots and mobile robot research; followed by papers on the overview of the technical development of the speed control system introduced, including the principle of the DC speed control system and way; then paper introduced the the mobile robots MT-UROBOT. Papers the MT-UROBOT to object analysis of the mechanical structure of the robot's two-wheel drive and differential speed drive way, and on this basis to derive the kinematics model and dynamics model, but also several simple movement mathematical description. With the development of power electronics technology and computer technology, full digital DSP-based intelligent speed control system has become today's most important governor. Papers TMS320LF2407A as microcontrollers, wheeled mobile robot speed control system hardware and software. Including the DSP TMS320LF2407A performance characteristics, the principles of the PWM converter, the structure and function of the motor driver chip LMD18200 incremental photoelectric encoder ZKX-6-50BM7 its speed and direction detection principle and the beginning of the speed control system initialization subroutine and the several interrupt subroutine analysis. The control algorithm is a key part of the mobile robot speed control system, the algorithm directly determine the level of performance of the speed control system. Thesis of traditional PID algorithm based on a detailed analysis of the role and influence of its control principle and the three parameters of the speed control system performance, double closed-loop PID speed control system is designed on this basis, and in the MATLAB simulation environment to its The simulation study. According to the simulation results, in accordance with the steady-state and dynamic performance of the speed control system, detailed analysis of the performance of its control. Parameter setting is an important part of the PID control algorithm, the appropriate parameters to enable the system to achieve optimal performance, but because of the actual system lag, nonlinear factors, parameter tuning PID control has been a difficulty. To solve this problem, the paper fuzzy control strategy introduced into the PID control and adaptive control. Completed the design of a fuzzy inference system on the basis of fuzzy control theory and simulation of adaptive fuzzy PID controller and its application to double closed loop DC system. Simulation results and performance analysis, the paper designed adaptive fuzzy PID speed performance of the speed control system to achieve the desired objectives. Papers wheeled mobile robot speed control system for a mobile robot motion control provides some theoretical and practical basis for the development and application of certain positive significance.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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